#1 How totally custom kinematics has to be configured in YRC1000 controller properly? For example 3 axis: linear+rotary+rotary? As far as I understood TURN-3 has to be selected in maintenance mode but there's no fields for kinematics parameters. For coordinated motions translations (X,Y,Z,RX,RY,RZ) for axis1-2 and axis2-3 have to be configured.
#2 For example having a cell with two workzones and each one with a positioner. Accordingly there're two groups R1+S1 and R1+S2. It would be convenient to have a single job teached with R1+S1 group and to switch the group from R1+S1 to R1+S2. Is there some options/instructions for that?
thanks in advance.