Robot on an XZ linear unit at a rotary/swivel table

Example

example

Configuration with several groups linked to each other

Two groups are required for this configuration. The first group consists of the linear unit and the robot. Configuring this group is analogous to the previous example. The second group consists of the rotary/swivel table which is configured with Universal Kinematic 91 from two rotary axes.

Robot on an XY linear axis at a rotary/swivel table
Robot on an XY linear axis at a rotary/swivel table

Since the configuration comprising XY linear unit and robot corresponds exactly to the previous example, the configuration of the elements concerned will not be described here.

trafo[0].id                     45
trafo[0].name                   ROBOT
...

trafo[1].id                     91
trafo[1].name                   LINEAR
...

trafo[2].id                     91
trafo[2].name                   TABLE
trafo[2].zero_orientation[0]    0.0
trafo[2].zero_orientation[1]    0.0
trafo[2].zero_orientation[2]    1.0
trafo[2].zero_position[0]       0.0
trafo[2].zero_position[1]       0.0
trafo[2].zero_position[2]       0.0
trafo[2].number_of_axes         2
trafo[2].chain[0]               1
trafo[2].chain[1]               0
trafo[2].axis[0].type           2
trafo[2].axis[0].orientation[0] -1.0
trafo[2].axis[0].orientation[1] 0.0
trafo[2].axis[0].orientation[2] 0.0
trafo[2].axis[0].point[0]       0.0
trafo[2].axis[0].point[1]       0.0
trafo[2].axis[0].point[2]       0.0
trafo[2].axis[1].type           2
trafo[2].axis[1].orientation[0] 0.0
trafo[2].axis[1].orientation[1] 0.0
trafo[2].axis[1].orientation[2] -1.0
trafo[2].axis[1].point[0]       0.0
trafo[2].axis[1].point[1]       0.0
trafo[2].axis[1].point[2]       0.0
trafo[2].programming_mode       12
trafo[2].rtcp                   1
trafo[2].base[0]                30000000
trafo[2].base[2]                10000000

trafo[3].id                     210
trafo[3].group[0].name          LIN_ROB
trafo[3].group[0].chain[0]      LINEAR
trafo[3].group[0].chain[1]      ROBOT
trafo[3].group[0].move_prio[0]  LINEAR
trafo[3].group[0].move_prio[1]  ROBOT
trafo[3].group[0].workpiece_cs  TABLE
trafo[3].group[1].name          TABLE
trafo[3].group[1].chain[0]      TABLE
trafo[3].group[1].move_prio[0]  TABLE