PTP parameters

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

Possible constellations	1 to 8
Joint axes parameterizable via JointPhase	1, 2, 3

The figures show constellation 1. Elbow 1 is folded inwards in constellations 5..8. Elbow 2 is folded inwards in constellations 3/4 and 7/8. Elbow 3 is folded inwards in constellations 2/4/6/8. When extending an arm, the robot is in the same constellation as when the respective elbow is folded outwards.

Constellation	Elbow 1 folded inwards	Elbow 2 folded inwards	Elbow 3 folded inwards
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	Elbow 1 folded inwards	Elbow 2 folded inwards	Elbow 3 folded inwards
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	Elbow 1 folded inwards	Elbow 2 folded inwards	Elbow 3 folded inwards
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	Elbow 1 folded inwards	Elbow 2 folded inwards	Elbow 3 folded inwards
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