Measurement Poses and Conditions

Joint 1 measurement is performed with the rotating axis perpendicular to the ground and during horizontal movement.

Joint 2 and Joint 3 measurements are performed with the rotating axis parallel to the ground and when the robot is stopped in a downward movement vertical to the ground.

Note

The measurements are the result of the worst case. Measurement may vary according to circumstances

The pose for 33%, 66%, and 100% of extension

	Joint 1	Joint 2	Joint 3
100% extension Stop category 0
33% extension Stop category 1			-
66% extension Stop category 1			-
100% extension Stop category 1

The pose when the stop is initiated and the measured angle (

)

	Pose when the stop is initiated	Measured Angle
Joint1		No slip,
Joint2
Joint3