Axis configuration encompasses the group of settings that determine how the rotation of the TCP around its Z axis is handled during an operation. At any given point of an operation, the TCP can theoretically be rotated any of the 360 degrees around its Z axis (ignoring kinematic constraints and collisions). Axis configuration is used to establish a “rule” to follow for an operation.
Navigation
Axis configuration is accessible through the operation level settings on the device side of Robotmaster.
Calculation Methods
Spherical Interpolation
This calculation method is defined by a spherical shape, covering all possible Z vectors of the TCP.
There are 2 spherical interpolation settings that establish how the tool orientation behaves in relation to the sphere.
Type
Default Z rotation
Default no Z rotation
Orientation
Top
Front
Side
