Joints
To configure the emergency stop ramps, see chapter Emergency stop ramps and software limit switches of the joints.
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In addition to the joint axes, 4 non-driven joints are to be configured. These act as software limit switches. Passive joints 1 and 2 refer to arm 1; passive joints 3 and 4 refer to arm 2.
Parameter name | Additional information |
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Elbow angle 1 | Angle between upper arm and forearm 1 in the plane of movement of upper arm 1 |
Shear angle 1 | Angle between the plane of movement of upper arm 1 and forearm 1 |
Elbow angle 2 | Angle between upper arm and forearm 2 in the plane of movement of upper arm 2 |
Shear angle 2 | Angle between the plane of movement of upper arm 2 and forearm 2 |
