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Mitsubishi RV-2AJ


I have a Mitsubishi RV-2AJ and want to use it with robo Dk, but I have a few issues regards it being a 5 axis Maschine.
I want to use a small mill on it, mounted 90 degrees to the Endplate on the arm so I can use it as a 5 axis mill. But the problem ist that I can’t manage to get around not having a 6. axis. How can in program it such that the z axis through the spindle is irrelevant to the movement of the robot. Is it possible to designs it such that there ist a additional Rotation in the spindle so the Software can calculate the moves?
Looking forward for any help.
Thanks in advance 


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