AN-286 FRAME 16 - XYZ robot with 2 Axis wrist

The FRAME 16 transformation allows an XYZ Robot with 2 axis wrist to be easily programmed. The transformation function provides compensation in XYZ when the 2 wrist axes are rotated. The FRAME 16 transformation is available for MC4XX controllers (including MC464, EURO408 and MC405) with the Robotic Function FEC (feature enable code) fitted.

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