MH12: Joint Limits in Datasheet vs XACRO/URDF

[dipendras]

in MH12 robot, the joint limits of U axis is different in datasheet compared to the one in xacro/urdf file.
In datasheet, the U-joint limit is -175/240 degrees. However in xacro file the limit is -85/150 degrees. Even-though the limits in xacro seems more correct than the one available in datasheet, is there an explanation for this difference?

[EricMarcil]

Yes, the -175/240 is the position that the U-axis can take relative to the ground, which is in reality the combination of the L-axis and U-axis. Where as the -85/150 degrees angle is relative to the previous joint. There are only a few datasheets that were publish that way. The practice has been dropped since.