[Cristina Disciglio]

Hello everyone. I am working on a project where I have a table with two degrees of freedom, created with two different mechanisms, and a 6-axis robot. I need to connect robot and table through external axes but I have a problem: when I get the screen to connect the table with the robot it gives me the possibility to choose only one type of table mechanism and not both. How can I solve the problem?

[Albert]

You should model the external axis as one single unit before synchronizing it with the robot arm. If can share your RDK project we can help you better.

[Cristina Disciglio]

I was unable to solve the problem. This is my project, could you help me?

[Sergei]

It's necessary to use a '2 rotative axis' kinematic template for such kind of 2-axis positioner, instead of a nested '1 rotative axis' :

   

Here is a station example with the robot and 2-axis positioner:

https://robodk.com/example/Machining-and...ith-ABB-02

You can find more information about the creation of the mechanisms in RoboDK below the link:

https://robodk.com/doc/en/General-Create...ModelRobot