PTP parameters

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

Possible constellations

1, 2

Joint axes parameterizable via JointPhase

2

The figure shows constellation 1. In constellation 2, the rotational joint axis 2 is folded on the other side along linear joint axis 1 across from the perpendicular projection of joint axis 3 on linear joint axis 1. In the perpendicular projection, the robot is in constellation 1.