First variant: co-moving processing unit

In the case of a machine with co-moving axes, it must be ensured that the axes have the necessary dynamics to synchronise with the linear conveyor and to machine the workpiece.

The maximum conveyor velocity must be determined for each application by testing. When a kinematic transformation is used, it must be ensured that the synchronisation movements are not planned at axis level but as TCP movements. This does not ensure that the configured axis dynamics are maintained. In this case, too, a suitable feed rate and axis configuration must be determined by testing.

In the case of a co-moving processing unit, a machine workspace must be configured on the linear conveyor; see “Configuring the workspace and monitoring the workspace limits”.