7.
using the sigma.7
7.1
device geometry
sigma.7 translation axis
The position of the center of the end-effector (handle) can be read from the controller. The sys-
tem converts the encoder values into (X, Y, Z) coordinates, expressed in IUS (metric) unit. Figure
11 shows the coordinate system. The actual origin of the coordinate system (0,0,0) is located on
a virtual point at the center of the workspace.
Y
X
Z
figure 11 – coordinate system
16
