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

Example

Configuration with several groups linked to each other

Robot on an XZ linear unit at a rotary/swivel table 1:
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