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 45
trafo[0].name ROBOT
...
trafo[0].name ROBOT
...
trafo[1].id 91
trafo[1].name LINEAR
...
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[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
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