# Rot table with non-parallel axes

**URL:** <https://tech-community.robotics.abb.com/t/rot-table-with-non-parallel-axes/5409>\
**Category:** RobotStudio\
**Created:** [March 6, 2013, 9:00pm UTC](https://tech-community.robotics.abb.com/t/rot-table-with-non-parallel-axes/5409 "2013-03-06T21:00:18Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Jeff\_Sherman](https://avatars.discourse-cdn.com/v4/letter/j/48db29/32.png) [@Jeff\_Sherman](https://tech-community.robotics.abb.com/u/Jeff_Sherman)\
**Post date:** [March 6, 2013, 9:00pm UTC](https://tech-community.robotics.abb.com/t/rot-table-with-non-parallel-axes/5409/1 "2013-03-06T21:00:18Z")

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Hello,Trying to create a mechanism of a rotary table that has a smaller satellite rotary table on top of it. If I set the axis of both joints perfectly parallel to the world csys the mechanism creates without any trouble. If I set the axis for each joint as it is in actual machine, slightly off from perfectly parallel, Robot studio crashes when I try to compile the mechanism. This happens on RS 5.14.03 and 5.15.00.01. What exactly is the limitation here?

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**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\
**Post date:** [March 8, 2013, 9:49am UTC](https://tech-community.robotics.abb.com/t/rot-table-with-non-parallel-axes/5409/2 "2013-03-08T09:49:03Z")

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Hi Jeff,  
What you are trying to do should work. If you mail me ([anders.spaak@se.abb.com](mailto:anders.spaak@se.abb.com)) your geometries, I can take a look at it.

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**Author:** ![Jeff\_Sherman](https://avatars.discourse-cdn.com/v4/letter/j/48db29/32.png) [@Jeff\_Sherman](https://tech-community.robotics.abb.com/u/Jeff_Sherman)\
**Post date:** [March 9, 2013, 6:06pm UTC](https://tech-community.robotics.abb.com/t/rot-table-with-non-parallel-axes/5409/3 "2013-03-09T18:06:18Z")

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Thanks Anders. I will send them on Monday when I return to work. I have narrowed the problem down to a situation where both axes in the mechanism are nearly parallel to each other, but not exactly, and are nearly parallel to one of the world axes, but not exactly. I can compile a mechanism where both axes in the mechanism are parallel to each other but slightly off from world without error. Luckily this is good enough for my application.

Thanks,  
Jeff