PTP segments

Commands for approaching a target pose via point-to-point interpolation of the joint axes.

Certain kinematic models support several constellations (e.g. elbows left/right) and joint axis phases. For configuration options, refer to chapter Kinematic models. The Cartesian target coordinates, the constellation, and the joint axis phases can be explicitly specified in the SRL program or via IEC variables.

INFORMATION

When the program starts, "Constellation", "Phase Joint 1-6" and "BlendingDistance" are automatically set to "0". See also the chapters Establishing the basic state, Constellation and joint axis phases, and Setting parameters for blending.

• Adding PTP segment with pose variable
• Adding a PTP segment with explicit specification of a coordinate