Coordinates and axis count

The common Cartesian interface has six components, [x, y, z, rx, ry, rz]; the MG400 uses four, [x, y, z, r]. The mapping is r = rz. Since the MG400 cannot independently realize rx and ry, both must be zero for target positions. Returned values are expanded to [x, y, z, 0, 0, r].

The common joint interface has six components, [j1, j2, j3, j4, j5, j6]; the MG400 has four axes. Returned values are expanded to [j1, j2, j3, j4, 0, 0]. Nonzero j5 or j6 targets cannot be executed.

Select work and tool coordinate systems using change_work() and change_tool(). Some work/tool definition read/write operations are unimplemented; consult the API reference.