# Example 3: Slave tracks the moved workpiece

In this example, the slave tracks the master with position and orientation. The master signals its position to the interface of the dynamic coordinate system. The static offset between slave and master is also specified when the tracking function is activated.

Static offset between master and slave
Process two slave robots on a workpiece moved by the master robot

## Programing Example

Master = channel 1

%dynCS-Master

;…

N100 G01 X100 Y-45 Z45 A0 B0 C0 F5000

N200 G01 X0 Y-45 Z45 A0 B0 C0 F5000

N1000 #TRAFO[45]

N1010 X720 Y0 Z450 A0 B0 C45 F1500

N2000 #CHANNEL INTERFACE ON [DYN_CS]

;…

N2020 B0

…

N9000 #CHANNEL INTERFACE OFF [DYN_CS]

N9010 #TRAFO OFF

N9020 M30

## Programing Example

Slave tracks the moved workpiece

%dynCS-Slave

;…

N3000 G01 X0 Y-45 Z45 A0 B0 C0 F5000 ;Slave ACS

N3010 #TRAFO [45]

N3020 X720 Y0 Z450 F5000 ;Slave MCS

;Slave offset to master MCS

N3030 #CS ON [OFFS] [400,700,0,0,0,-90]

N3040 X620 Y0 Z450 A0 B15 C0 F5000 ; Moved slave in master MCS

; offset is transferred SLAVE to MASTER

N2010 #TRACK CS ON [ID=1 SET_ZERO X=400 Y=700 C=-90 FILTER=0 WAIT]

; Set slave zero point in master centre

; Yaw-Pitch-Roll: Negative B axis

N2020 #CS ON [V.G.TRACK_CS.X, V.G.TRACK_CS.Y, V.G.TRACK_CS.Z,

V.G.TRACK_CS.A, -V.G.TRACK_CS.B, V.G.TRACK_CS.C]

; Move slave to master centre

N2200 X0 Y0 Z0 A0 B0 C0 F500

;…

N2900 #TRACK CS OFF [FILTER=0]

N2910 #CS OFF

;…

N3000 M30