differing from (0,0) , e.g. around the point (xP,yP [...] the vector (-xP,-yP
: dX = a1 + a3 + a4 dY = 0 dZ = d1 + a2 + d5 X Along
arm 2 in t.u. dArmLength3 [...] in t.u. dArmLength2 [...] dOffsetA LREAL 0
by a0. dRollAxisOffsetY [...] by a0. dRollAxisOffsetZ [...] roll axis a1 in X
: dX = 0 dY = 0 dZ [...] of axis a0 is 0. X [...] linear axis (a2) and
1 0° d1 a1 -90° 2 90° 0 a2 0° 3 0° d3 a3 90° 4 0° d4 0
Kin_Staubli_TX60_S1_R4 [...] _BLOCK Kin_Staubli_TX60_S1_R4 [...] TX60-S1-R4. Other
SM3_Shared ¶ ByteOrder ReadDataNtoH (Function) WriteDataHtoN
: dX = 0 dY = 0 dZ [...] axis (a0), i.e. a [...] axis (a1), i.e. a
= 0 dZ = 0 X Along [...] , dOffsetA2 and dOffsetZ [...] : dX = dArmLength1