PTP parameters
For configuring the PTP parameters, refer to chapter PTP segments.
Possible constellations | 1 to 8 |
Joint axes parameterizable via JointPhase | 1 to 6 |
The figure shows constellation 1 or 3. In constellations 5..8, the robot is in the overhead position in which the wrist point has traveled over joint axis 1. In constellations 3/4 and 7/8, joint axis 3 is folded on the other side across from the connecting line of joint axis 2 to the wrist point. In constellations 2/4/6/8, joint axes 4 and 6 are tilted by 180°. Once all of the joint axes are in the zero position, the robot is in constellation 1.
