Direction of rotation
These were used for matching the rotation directions of the internal robot model in the kinematic transformation to the physical rotation directions of the actual robot. In default position, all the articulated axes in zero position of the robot rotate about the Cartesian Y axis in a mathematically positive direction.
List parameters | Meaning |
trafo[1].param[20] | Rotation direction of C axis 1, 0: positive, 1: negative |
trafo[1].param[21] | Rotation direction of C axis 2, 0: positive, 1: negative |
trafo[1].param[22] | Rotation direction of C axis 3, 0: positive, 1: negative |
trafo[1].param[23] | Rotation direction of C axis 4, 0: positive, 1: negative |
trafo[1].param[24] | Rotation direction of C axis 5, 0: positive, 1: negative |
trafo[1].param[25] | Rotation direction of C axis 6, 0: positive, 1: negative |