13.10.5 Abstract example of a six-axis robot with master-slave axis and drive-slots

Figure B.19 describes an example view on a server with the instances of ObjectTypes and references of a six-axis robot with master-slave axis and drive-slots described in Annex B.9.2.

If a leader-follower configuration only has one gear this shall be placed inside the leader-powertrain.

Figure B. 19 – View on a six-axis robot with master-slave and drive-slots