Robot on an XZ linear unit at a rotary/swivel table
Example
Configuration with several groups linked to each other
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 1
trafo[0].type 45
…
trafo[0].type 45
…
trafo[1].id 2
trafo[1].type 91
…
trafo[1].type 91
…
trafo[2].id 3
trafo[2].type 91
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[2].type 91
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 4
trafo[3].type 210
trafo[3].group[0].id 100
trafo[3].group[0].chain[0] 2
trafo[3].group[0].chain[1] 1
trafo[3].group[0].move_prio[0] 2
trafo[3].group[0].move_prio[1] 1
trafo[3].group[0].workpiece_cs 200
trafo[3].group[1].id 200
trafo[3].group[1].chain[0] 3
trafo[3].group[1].move_prio[0] 3
trafo[3].type 210
trafo[3].group[0].id 100
trafo[3].group[0].chain[0] 2
trafo[3].group[0].chain[1] 1
trafo[3].group[0].move_prio[0] 2
trafo[3].group[0].move_prio[1] 1
trafo[3].group[0].workpiece_cs 200
trafo[3].group[1].id 200
trafo[3].group[1].chain[0] 3
trafo[3].group[1].move_prio[0] 3