PTP parameters
For configuring the PTP parameters, refer to chapter PTP segments.
Possible constellations | 1 to 8 |
Joint axes parameterizable via JointPhase | 1, 2, 3 |
The figures show constellation 1. Elbow 1 is folded inwards in constellations 5..8. Elbow 2 is folded inwards in constellations 3/4 and 7/8. Elbow 3 is folded inwards in constellations 2/4/6/8. When extending an arm, the robot is in the same constellation as when the respective elbow is folded outwards.
