PTP parameters
For configuring the PTP parameters, refer to chapter PTP segments.
Possible constellations | 1 to 4 |
Joint axes parameterizable via JointPhase | 1, 2, 3 |
The figure shows constellation 1. In constellations 2 and 4, joint axis 3 is folded in the other direction compared to the extension of the upper arm and forearm. When extended, the robot is in constellation 1 or 3. In constellations 3 and 4, the robot is in the overhead position, i.e. joint axis 1 is pivoted by 180° compared to constellations 1 and 2.
Constellation | Overhead | Joint axis 3 |
|---|---|---|
1 | No | No |
2 | No | Yes |
3 | Yes | No |
4 | Yes | Yes |
