Special Configurations

You are currently viewing the documentation for version 1.8.2. To access documentation for other versions, click the "Switch Version" button located in the upper-right corner of the page.

■ To use the latest version, visit the Mech-Mind Download Center to download it.

■ If you're unsure about the version of the product you are using, please contact Mech-Mind Technical Support for assistance.

OffsetWrist_Y_SixAxis_FANUC_CRX_10IA_Like (there is a negative Y-direction offset (L) on the J5)

Axes

Six

Configuration name

OffsetWrist_Y_SixAxis_FANUC_CRX_10IA_Like

Description

There is a negative Y-direction offset (L) on the J5

DH parameters

alt

Reference frame and axis No.

alt

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3, 4

4: Reference frame 3, 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2

Base: 0, 1

Robot model list

FANUC CRX-10iA, FANUC CRX-10iAL, YASKAWA HC10

[robot]_algo example

{
	"algo_type": "OffsetWrist_Y_SixAxis_FANUC_CRX_10IA_Like",
	#DH parameters [meter]
	"dh": [ A, C, E, F, -L ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

OffsetWrist_Y_SixAxis_Rokae_SR4_Like (there is a positive X-direction offset (G) on the J2, and a negative Y-direction offset (L) on the J5)

Axes

Six

Configuration name

OffsetWrist_Y_SixAxis_Rokae_SR4_Like

Description

There is a positive X-direction offset (G) on the J2, and a negative Y-direction offset (L) on the J5

DH parameters

alt

Reference frame and axis No.

alt

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2

Base: 0, 1

Robot model list

Rokae SR3, SR4

[robot]_algo example

{
	"algo_type": "OffsetWrist_Y_SixAxis_ROKAE_SR4_Like",
	#DH parameters [meter]
	"dh": [ A, C, D, G, E, F, -L ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

OffsetWrist_Y_SixAxis_DENSO_COBOTTA_PRO_1300_Like (there is a negative Y-direction offset (H) on the J3, and a positive Y-direction offset (L) on the J5)

Axes

Six

Configuration name

OffsetWrist_Y_SixAxis_DENSO_COBOTTA_PRO_1300_Like

Description

There is a negative Y-direction offset (H) on the J3, and a positive Y-direction offset (L) on the J5

DH parameters

alt

Reference frame and axis No.

alt

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3, 4

4: Reference frame 3, 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2

Base: 0, 1

Robot model list

Denso COBOTTA PRO 900, COBOTTA PRO 1300

[robot]_algo example

{
	"algo_type": "OffsetWrist_Y_SixAxis_DENSO_COBOTTA_PRO_1300_Like",
	#DH parameters [meter]
	"dh": [ A, C, E, F, -H, L ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

OffsetWrist_Y_SixAxis_DENSO_COBOTTA_Like (there are positive Y-direction and Z-direction offsets (H, D) on the J3, and a negative Y-direction offset (L) on the J5)

Axes

Six

Configuration name

OffsetWrist_Y_SixAxis_DENSO_COBOTTA_Like

Description

There are positive Y-direction and Z-direction offsets (H, D) on the J3, and a negative Y-direction offset (L) on the J5

DH parameters

alt

Reference frame and axis No.

alt

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3, 4

4: Reference frame 3, 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2

Base: 0, 1

Robot model list

Denso COBOTTA

[robot]_algo example

{
	"algo_type": "OffsetWrist_Y_SixAxis_DENSO_COBOTTA_Like",
	#DH parameters [meter]
	"dh": [ A, C, D, E, F, H, -L ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

OffsetWrist_Z_SixAxis_ABB_CRB15000_Like (there is a positive Z-direction offset (M) on the J5)

Axes

Six

Configuration name

OffsetWrist_Z_SixAxis_ABB_CRB15000_Like

Description

There is a positive Z-direction offset (M) on the J5

DH parameters

alt

Reference frame and axis No.

alt

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3, 4

4: Reference frame 3, 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2

Base: 0, 1

Robot model list

ABB CRB15000-5/0.95

[robot]_algo example

{
	"algo_type": "OffsetWrist_Z_SixAxis_ABB_CRB15000_5_0_95_Like",
	#DH parameters [meter]
	"dh": [ A, C, D, E, F, M ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

We Value Your Privacy

We use cookies to provide you with the best possible experience on our website. By continuing to use the site, you acknowledge that you agree to the use of cookies. If you decline, a single cookie will be used to ensure you're not tracked or remembered when you visit this website.

I accept

I don't accept