What is the (S,R,H) range of uArm Swift Pro

I am using uArm Swift Pro and I send Gcode command Arduino to Swift Pro using Serial communication.
I want using polar coordinate (S,R,H) .
I read Coordinate part in uArm Swift Pro_Developer Guide v1.0.6.
but i don’t understand this.
500g payload range S direction 87~261? H direction 55~132???

I send command G2201 S87 H55\n but this unreachable error message return.
how to setup range of uArm Swift Pro?
and what is origin of base coordinate in polar coordinate
cartesian coordinate (0,0,0) also return unreachable error message!

The working range is different if you send different H value.