Annex B (informative) Examples ToC Previous

B.1 Examples of motion device systems, motion devices, axes and power trains ToC Previous

B.1.6 Virtual Axes ToC Previous Next

If there is the need to show information about virtual axes, which are not actively run by a power train, then these axes shall be provided, but they don´t have References to a power train. An example for a virtual axis is, when a robot control calculates the movement of an external axis in accordance to the robot movement, e.g. for a servo welding gun mounted at the robot flange, but doesn´t control actively the movement of this axis with an internal power train.

Another example for a virtual axis can be found in a delta robot. When the fourth axis is driven through a telescope shaft and cardan joints, then the length of the telescope shaft is depending on the positions of axes 1, 2 and 3. This length can be seen as a virtual axis, as it has constraints similar to a real axis, e.g. position limits. But it is not possible to actively move this axis.

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