Point-vector programming

Introduction

With point-vector programming, tool position and orientation are programmed directly.

• Position is programmed by the letters X, Y, Z.
• Orientation is programmed by the letters U, V, W.

Axis definition

Six axes must be defined in the channel parameters. These axes must be indexed in the order X, Y, Z, U, V, W.

Notice

No angles are programmed in point-vector programming, i.e. the corresponding RTCP flag is ignored. Angle transformation is complete, i.e. the axis angles are calculated from tool orientation.