2 external axis+ceiling robot

• There is a system which is like on attachment file. I need to make external transsformation but i couldnt. I searched all manuals and internet but there is nothing about two external and linear axis example. Do you have any idea?

Thanks

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Edited once, last by panic mode ().

• i have read that doc. But i didnt understand.

there are 4 descriptions.
1. Translation of 450 mm in the Z direction: from the root point
to the flange center point of the linear unit
2. Rotation of 90° about angle B so that the positive Z axis
points in the direction of motion

3. Since the linear unit only has one axis, no transformation is car-
ried out here.
4-Rotation of -90° about angle B so that the X axis, starting at the
connector panel, points in the positive direction: orientation of
the robot at the flange of the linear unit.

which cordinate system will be rotate in 2. and 4. description?
Ersysroot or robroot?

And how will i determine that rotation is negativ or positive?

Edited once, last by rua ().

• Hi,

the transformation chain for any external kinematic is (see R1/\$machine.dat)

\$ETn_TA1KR(Ex1) : \$ET1_TA2A1(Ex2) : \$ETn_TA2A1(Ex3) : ETn_TFLA3, n = 1,..., 6 (n = number of the external kinematic),

where always the "z-axis" inside these coordinate systems is the axis of revolution/translation according to the axis type (linear/rotational, see \$AXIS_TYPE).

Which axes Ex1, Ex2, Ex3 are used inside which external kinematic is defined by \$ETn_AX, n = 1,..., 6 (n = number of the external kinematic). E.g. \$ET1_AX.TR_A1 = #E2 uses the inside KRL E2 addressed external axis as Ex1 inside the upper transformation chain.

The type of each external kinematic is defined by \$EX_KIN. E.g. \$EX_KIN.ET1 = #ERSYS defines the first (n=1) external kinematic as robroot kinematic (Robot is mounted on the external kinematic, only one external kinematic of this type is allowed). Setting e.g. \$EX_KIN.ET2 = #EASYS defines the second (n=2) external kinematic as base kinematic (Robot is not (!) mounted on the external kinematic).

In case of robroot external kinematics \$ERSYSROOT defines the start of the external kinematic according to the \$WORLD system. Hence the upper transformation chain has to be added by a left sided multiplication:

\$ERSYSROOT:\$ETn_TA1KR(Ex1) : \$ET1_TA2A1(Ex2) : \$ETn_TA2A1(Ex3) : ETn_TFLA3, n = 1,..., 6 (n = number of the external kinematic)

Last but not least ETn_TFLA3, n = 1,...,6, defines the frame from the last extrenal kinematic axis to the external kinematic flange system. Please note in case of robroot external kinematics the z direction of the resulting flange coordinate system is used to attach the robot.

Fubini