Joints
To configure the emergency stop ramps, see chapter Emergency stop ramps and software limit switches of the joints.
In addition to the joint axes, 6 non-driven joints are to be configured. These act as software limit switches.
Passive joints 1 and 2 refer to arm 1 and are shown in the figure. Passive joints 3/4 or 5/6 refer to arm 2 or 3, respectively, and their function corresponds to that of passive joints 1 and 2 when turned in a rotationally symmetric manner.
Parameter name | Additional information |
|---|---|
Elbow angle 1 | Angle between upper arm and forearm of arm 1 in the plane of movement of upper arm 1 |
Shear angle 1 | Angle between the plane of movement of upper arm 1 and forearm 1 |
Elbow angle 2 | Angle between upper arm and forearm of arm 2 in the plane of movement of upper arm 2 |
Shear angle 2 | Angle between the plane of movement of upper arm 2 and forearm 2 |
Elbow angle 3 | Angle between upper arm and forearm of arm 3 in the plane of movement of upper arm 3 |
Shear angle 3 | Angle between the plane of movement of upper arm 3 and forearm 3 |
