Facing a Problem in assembling Motoman Mh-6 Robot in Solidworks?

I am getting confused about ''U'' Axis of robo as i am facing some problem in applying limit angle mate and also want to ask which planes should i use to give proper mate i am also confused about value of rotation of this individual axis as in drawing they mentioned 83 degree but in table on top 'Range of Motion' is -175 to 225 degree which means it can travel over all 425 degree so please guys help me out.
here i am providing 2D drawing of motoman robot which i am using for assembling purpose.

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