Right handed, left handed

Right handed, left handed 1:
Figure 2-45: Right handed, C2 >=0, bzw. < 180degrees
Right handed, left handed 2:
Figure 2-46: Left handed C2 <=0 bzw. > 180 degrees

Offset data of kinematic:

HD-offset

param[i]

Description

HD1

0

WZ length offset in z-direction

HD2

1

offset joint 1 to joint 2

HD3

2

offset joint 2 to axis C3

HD4

3

x-offset zero point C1 axis

HD5

4

y-offset zero point C1 axis

HD6

5

rotary offset C1 axis