Linear Rails

As the base frame of the PreciseFlex robot is not placed at the physical base of the robot, specific offsets are required between the PreciseFlex robots and the PreciseFlex linear rails.

Brooks PreciseFlex Linear Rail 0-degree configuration:

a.Brooks PreciseFlex 400: [118, 0, 45.6, 0, 0, 0]

b.Brooks PreciseFlex 3400: [118, 0, 62.6, 0, 0, 0]

Brooks PreciseFlex Linear Rail -90-degree configuration:

a.Brooks PreciseFlex 400: [101.6, 0, 45.6, 0, 0, 0]

b.Brooks PreciseFlex 3400: [101.6, 0, 62.6, 0, 0, 0]

The linear rail must be synchronized for the post processor to account for the axis position. Refer to the https://robodk.com/doc/en/General.html#SyncAxes section for more information.

To properly save targets in the World Reference Frame of the robot and later use them in a GPL project created using the post processor, the user must define a new reference frame. This must be defined with respect to the station reference frame, with the same offsets used before between the robot base and the linear rail (as reported above). The targets must be defined with respect to this reference frame.

Below is a picture showing a PreciseFlex 400 robot mounted on a 1m linear rail (in 0-degree configuration) and the reference frame defined as the World Reference Frame of the robot.

After having generated the GPL project, open the Main.gpl file using any text editor, and comment the line where the base reference frame of the robot is defined: