Yumi with external axis

IzaR

Hello,

is it possible to create in RobotStudio a station with Yumi and external axis (gantry), which allows the robot to move along the Y axis?

I tried to use the external axis wizard, but this option does not work with yumi. I need a simulation in which I can move the robot, and it is able to move. At the moment I'm using smart components to control the gantry, the robot moves but the base frame stay in place and the robot has a kinematic error.

I will be grateful for suggestions on how to solve this problem.