PTP parameters

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

Possible constellations	1 to 8
Joint axes parameterizable via JointPhase	-

The figures show 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 forearms 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. The following applies to the constellations: 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°.

Constellation	\|PassiveJoint[1]\| > 90°	\|PassiveJoint[3]\| > 90°	\|PassiveJoint[5]\| > 90°
1	No	No	No
2	No	No	Yes
3	No	Yes	No
4	No	Yes	Yes
5	Yes	No	No
6	Yes	No	Yes
7	Yes	Yes	No
8	Yes	Yes	Yes

MOVIKIT® Robotics

Constellation	\|PassiveJoint[1]\| > 90°	\|PassiveJoint[3]\| > 90°	\|PassiveJoint[5]\| > 90°
1	No	No	No
2	No	No	Yes
3	No	Yes	No
4	No	Yes	Yes
5	Yes	No	No
6	Yes	No	Yes
7	Yes	Yes	No
8	Yes	Yes	Yes

Constellation	\|PassiveJoint[1]\| > 90°	\|PassiveJoint[3]\| > 90°	\|PassiveJoint[5]\| > 90°
1	No	No	No
2	No	No	Yes
3	No	Yes	No
4	No	Yes	Yes
5	Yes	No	No
6	Yes	No	Yes
7	Yes	Yes	No
8	Yes	Yes	Yes

Constellation	\|PassiveJoint[1]\| > 90°	\|PassiveJoint[3]\| > 90°	\|PassiveJoint[5]\| > 90°
1	No	No	No
2	No	No	Yes
3	No	Yes	No
4	No	Yes	Yes
5	Yes	No	No
6	Yes	No	Yes
7	Yes	Yes	No
8	Yes	Yes	Yes