ID : 6995

Combination of Figures

COBOTTA can take different figures for its shoulder, elbow, wrist for a single point and attitude (X, Y, Z, RX, RY, and RZ) at the end of the end-effector.
Combining these different figures allows the robot to take different figures for its single position and attitude.
The table below shows available figures.

Value	Shoulder Figure	Elbow Figure	Wrist Figure	Wrist Figure2
0	RIGHTY	ABOVE	FLIP	FLIP2
1	LEFTY	ABOVE	FLIP	FLIP2
2	RIGHTY	BELOW	FLIP	FLIP2
3	LEFTY	BELOW	FLIP	FLIP2
4	RIGHTY	ABOVE	NONFLIP	FLIP2
5	LEFTY	ABOVE	NONFLIP	FLIP2
6	RIGHTY	BELOW	NONFLIP	FLIP2
7	LEFTY	BELOW	NONFLIP	FLIP2
256	RIGHTY	ABOVE	FLIP	NONFLIP2
257	LEFTY	ABOVE	FLIP	NONFLIP2
258	RIGHTY	BELOW	FLIP	NONFLIP2
259	LEFTY	BELOW	FLIP	NONFLIP2
260	RIGHTY	ABOVE	NONFLIP	NONFLIP2
261	LEFTY	ABOVE	NONFLIP	NONFLIP2
262	RIGHTY	BELOW	NONFLIP	NONFLIP2
263	LEFTY	BELOW	NONFLIP	NONFLIP2

Shoulder Figure

A shoulder figure is defined by a set of the values of the 1st-, 2nd-, and 3rd-axis components.

The robot can take two different shoulder figures--Left-handed (LEFTY) and Right-handed (RIGHTY).

(J1-J6 describes each axis.)

LEFTY	RIGHTY

Elbow Figure

An elbow figure is defined by a set of the values of the 2nd- and 3rd-axis components.

The robot can take two different elbow figures--Over-handed (ABOVE) and Under-handed (BELOW).

ABOVE	BELOW

Wrist Figure

A wrist figure is defined by a set of the values of the 4th-axis components.

The robot can take two different wrist figures--Normal (NONFLIP) and Reversed (FLIP).

(J1-J6 describes each axis)

FLIP	NONFLIP

Wrist Figure2

A wrist figure2 is defined by a set of the values of the 5th-axis components.

The robot can take two different wrist figures2--Normal (NONFLIP2) and Reversed (FLIP2).

FLIP2	NONFLIP2

ID : 6995

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