A high-payload six-axis industrial robot shown in Figure B.6 can have nine power trains for the movement of the six axes. In this example the axes 1 to 3 are each driven by two power trains with master-slave configuration.

Figure B.12 shows the use of the HasSlave rerference in addition to the power train to axis references.

Figure B.12 – Coupling references for a six-axis industrial robot with master-slave axes

A power train HasSlave a power train means that one power train is the master of a master-slave-configuration and he references HasSlave to power train which is slave coupled.

HasSlave References:

1. Power train 1 HasSlave power train 2
2. Power train 3 HasSlave power train 4
3. Power train 5 HasSlave power train 6

For this master-slave configuration the Moves and Requires references :

1. Power train 1 Moves axis 1
2. Power train 2 Moves axis 1
3. Power train 3 Moves axis 2
4. Power train 4 Moves axis 2
5. Power train 5 Moves axis 3
6. Power train 6 Moves axis 3
7. Power train 7 Moves axis 4, axis 5 and axis 6
8. Power train 8 Moves axis 5 and axis 6
9. Power train 9 Moves axis 6

1. Axis 1 Requires power train 1 and power train 2
2. Axis 2 Requires power train 3 and power train 4
3. Axis 3 Requires power train 5 and power train 6
4. Axis 4 Requires power train 7, power train 8 and power train 9
5. Axis 5 Requires power train 8 and power train 9
6. Axis 6 Requires power train 9