46 lines
1.9 KiB
XML
46 lines
1.9 KiB
XML
<?xml version="1.0"?>
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<robot name="demo_bc_gantry" xmlns:cnc="urn:linuxcnc:web:machine:1">
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<cnc:machine profile="trt-xyz-gantry/1" base="base" tool="z_slide" work="work_frame"/>
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<link name="base"/>
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<link name="x_slide"/>
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<link name="y_slide"/>
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<link name="z_slide"/>
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<link name="tilt_table"/>
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<link name="c_table"/>
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<link name="work_frame"/>
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<joint name="x_joint" type="prismatic">
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<parent link="base"/><child link="x_slide"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="1 0 0"/><cnc:axis coordinate="X"/>
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<limit lower="-0.2" upper="0.2" velocity="0.02" effort="1000"/>
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</joint>
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<joint name="y_joint" type="prismatic">
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<parent link="x_slide"/><child link="y_slide"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/><cnc:axis coordinate="Y"/>
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<limit lower="-0.1" upper="0.1" velocity="0.02" effort="1000"/>
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</joint>
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<joint name="z_joint" type="prismatic">
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<parent link="y_slide"/><child link="z_slide"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/><cnc:axis coordinate="Z"/>
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<limit lower="-0.12" upper="0.12" velocity="0.02" effort="1000"/>
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</joint>
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<joint name="tilt_joint" type="revolute">
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<parent link="base"/><child link="tilt_table"/>
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<origin xyz="0.004 0.014 -0.028" rpy="0 0 0"/>
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<axis xyz="0 1 0"/><cnc:axis coordinate="B"/>
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<limit lower="-628.3185307179587" upper="628.3185307179587" velocity="0.5235987755982988" effort="1000"/>
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</joint>
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<joint name="c_joint" type="revolute">
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<parent link="tilt_table"/><child link="c_table"/>
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<origin xyz="-0.022 0 0.04" rpy="0 0 0"/>
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<axis xyz="0 0 1"/><cnc:axis coordinate="C"/>
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<limit lower="-628.3185307179587" upper="628.3185307179587" velocity="0.5235987755982988" effort="1000"/>
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</joint>
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<joint name="work_mount" type="fixed">
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<parent link="c_table"/><child link="work_frame"/>
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<origin xyz="0.018 -0.014 -0.012" rpy="0 0 0"/>
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</joint>
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</robot>
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