4 Teaching
4.6 User Variables
4-50
HW1485509
HW1485509
4.6.3.3 Closure Setting
When the position data for the job is described using the XYZ format,
several postures may be adopted depending on the manipulator’s
structure when moving it to the described position.
Although these postures have the same coordinates for TCP, they vary in
angle for each axis.
For this reason, the manipulator’s posture cannot be uniquely defined by
the coordinate value alone. It is necessary to specify data other than the
coordinate value to define the manipulator’s posture.
In Position Variable Details, press {Show Closure Settings}.
The Closure Settings panel will appear.
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