PTP parameters
For configuring the PTP parameters, refer to chapter PTP segments.
Possible constellations | 1 to 8 |
Joint axes parameterizable via JointPhase | - |
The figure shows constellation 1. If the PassiveJoints 1/3/5 are in the range [-90°, 90°], the robot is in constellation 1. At the -90° or 90° angle of the PassiveJoints 1/3/5, the lower arms 1/2/3 are each perpendicular to the linear axis 1/2/3. If the amount of one of the PassiveJoints 1/3/5 exceeds the angle 90°, the constellation has changed. In constellations 5..8, |PassiveJoint[1]| > 90°, in constellations 3/4 and 7/8, |PassiveJoint[2]| > 90°, and in constellations 2/4/6/8, |PassiveJoint[3]| > 90°.
