PTP parameters

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

Possible constellations	1 to 8
Joint axes parameterizable via JointPhase	1 to 6

The figure shows constellation 1 or 2. In constellations 5..8, the robot is in the overhead position in which the wrist point has traveled over joint axis 1. In constellations 3/4 and 7/8, joint axis 3 is folded on the other side across from the connecting line of joint axis 2 to the wrist point. In constellations 2/4/6/8, joint axes 4 and 6 are tilted by 180°. Once all of the joint axes are in the zero position, the robot is in constellation 1.

Constellation	Overhead position	Joint axis 3 folded	Joint axes 4/6 tilted by 180°
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	Overhead position	Joint axis 3 folded	Joint axes 4/6 tilted by 180°
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	Overhead position	Joint axis 3 folded	Joint axes 4/6 tilted by 180°
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	Overhead position	Joint axis 3 folded	Joint axes 4/6 tilted by 180°
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