Parameters
Parameter designation | Additional information | |
|---|---|---|
Kinematic parameters | ||
(A) | Offset to joint 1 (Z) | |
(B) | Offset joint 2 to joint 3 | Offset vertical to joint axis 3 In X direction if joint axis 2 = 0° |
(C) | Offset joint 3 to flange | Offset vertical to joint axis 3 In X direction if joint axis 2 = 0° |
(D) | Offset to pivot plane (X) | X coordinate of the pivot plane, which is the YZ plane, in which the intersection with the straight line is kept constant by joint axis 3 with Cartesian interpolation in the pivot axis |
INFORMATION: If (B) and (D) are both equal to 0, then only the joint axes 2 and 3 are moved with Cartesian interpolation (JOG_CART, LIN, CIRC). In this case, the pivot axis is located in joint 2. If (B) is not equal to 0 or (D) is not equal to 0, then in Cartesian interpolation, joint axis 1 will also move so that the line pivots around the pivot axis through joint axis 3.
