PTP parameters

For configuring the PTP parameters, refer to chapter PTP segments.

Possible constellations

1 to 4

Joint axes parameterizable via JointPhase

1, 2

The figures show constellation 1. Elbow 1 is folded inwards in constellations 3 and 4. Elbow 2 is folded inwards in constellations 2 and 4. When extending an arm, the robot is in the same constellation as when the respective elbow is folded outwards.