AN-317 FRAME 116 - 3 Axis Robot with 2 Axis Wrist
The FRAME 116 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.
FRAME 116 is similar to FRAME 16 but with the addition of a Y offset on the tool-point.
The following picture shows the type of machine:
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