Joints
For the configuration of the emergency stop ramps, refer to chapter Joints / additional joint axes – limit values.
In addition to the 4 joint axes, you have to configure a kinematic limit. This limit acts as a software limit switch.
Parameter designation | Additional information | |
|---|---|---|
Kinematic parameters | ||
(E) | Minimum distance to pivot plane (X) | Minimum distance (in the X direction) between the pivot plane and the intersection of joint 3 with the offset to the flange, where the pivot plane is the YZ plane defined by the pivot axis. Value ≥ 0 |
