Prerequisites

The following kinematic types can be used as partial kinematics for coupling kinematics:

Kinematic
type

Description

5

4-axis kinematic with crosshead for 4 tools

6

4-axis kinematic with underfloor milling tool

7

5-axis kinematic with manual auxiliary axis (drilling)

8

5-axis kinematic with manual auxiliary axis (sawing)

9

5-axis kinematic (drilling and milling unit)

10

5-axis kinematic (sawing)

45

6-axis articulated robot

96

4-axis palletising robot

91

Universal Kinematics

500-999

TcCOM transformation with orientation (see [McCOM-TRAFO])