Joints

For the configuration of the emergency stop ramps, refer to chapter Joints / additional joint axes – limit values.

In addition to the 6 joint axes, you have to configure 1 kinematic limit. This limit acts as a software limit switch.

Parameter designation

Additional information

Angle between the lines of joint 2 to joint 3 and of joint 3 to the wrist

Angle between the following connecting lines:

  • Joint axis 2 to joint axis 3
  • Joint axis 3 to the wrist (intersection of axes 4 to 6)