Manipulator setting determines the configuration of all kinematic chains in the cell setup. This includes the robot, as well as any external axes in the cell (rails or rotaries).
Manipulator setting is accessible through the setup level settings on the device side of Robotmaster.
The main tool chain consists of the kinematic bodies of the robot, and any external axes that the robot may be mounted to (rails and rotaries).
The specific name of each joint set configuration changes depending on the selected robot’s brand. The terms below are the generic configuration names.
Base - Front or Back
Arm - Up or Down
Wrist - Positive or Negative
Multi turn joints - Determines behavior of any joint with a total range over 360 degrees.
Closest - Multi turn joints will adjust to the closest of the 2 or more viable values.
Automatic - Multi turn joints will adjust to the value closer to the middle of the joint’s range if possible.
The main path chain consists of any external axes that the toolpaths (and part) are mounted to. This can consist of rails and rotaries.