Configuring subordinate nodes

• If the kinematic models include additional transmission stages, belts, spindles or output gears, these cannot be taken into account in the SEW-Workbench. Therefore, use the physics simulation of the virtual axes in MOVISUITE^®.
• You can skip this step if there are no other gear ratios in the robot in addition to the SEW-EURODRIVE gear units (e.g. toothed gear drives).
• In the case of transmissions (apart from the SEW-EURODRIVE gear unit ratio), perform the following steps for all joint axes of the robot that have a transmission.
• Activate and configure the physics simulation in the software module of the lower-level axis as described in chapter Physics simulation for DT1 (additional function of the lower-level axis software module). Take the following special features into account:
• Leave collision detection deactivated (not needed).
• To ignore individual components of the drive train or the friction in the software, set their parameters to "0".
• If no friction values of the additional transmission are known, the friction in the system can be taken into account later in SEW-Workbench by the application efficiency.