Configuring a workpiece CS

The parameter P-CHAN-00448 cooperates one group with another. The group then follows the movements of the group specified in P-CHAN-00448. If the group has a TCP, the PCS shifts the TCP to the effector system of the specified group.

Example

A robot works at a rotary/swivel table

The robot is programmed to follow the movement of the rotary/swivel table. This example contains two independent kinematic chains:

• Rotary/swivel table
• Robot

For this reason, two groups must be configured.

To set up a relationship between the two chains, the table group can be defined as workpiece CS of the robot group. The consequence of this is that the robot follows the movement of the table.

Example

The PCS of the group with the active workpiece CS is shifted to the moved workpiece.

In the example below, the PCS of the ROB group shifts to the workpiece moved by the TABLE group.

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

trafo[1].id                      91
trafo[1].name                    CA-TABLE
...

trafo[2].id                      210
trafo[2].group[0].name           ROB
trafo[2].group[0].workpiece_cs   TABLE
trafo[2].group[0].chain[0]       ROBOT
trafo[2].group[1].name           TABLE
trafo[2].group[1].chain[0]       CA-TABLE

The complete parameterisation is contained in the Robot on an XZ linear unit at a rotary/swivel table.