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

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 unit on 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 1
trafo[0].type 45
…

trafo[1].id 2
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[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