Angle offset

These are required to match the zero position of the internal robot model in the kinematic transformation to the physical zero position of the actual robot. In the examples given below, the articulated axis positions are 0 in each case.

List parameters

Meaning

trafo[1].param[13]

Rotary offset for zero position of robot joint axis 2

trafo[1].param[14]

Rotary offset for zero position of robot joint axis 3

Example for param[13]=0 degrees, param[14]=0 degrees
Example for param[13]=0 degrees, param[14]=0 degrees
Example for param[13]=-90 degrees, param[14]=90 degrees
Example for param[13]=-90 degrees, param[14]=90 degrees