MC-Basic:COMMON SHARED ... AS GROUP

This command is used to define a group. The group is defined as a variable and the definition includes assignment of parameters to the group (i.e., a list of the axes which compose the group). A group must contain one or more axes. Once a group has been defined, the group properties should be set according to the desired group behavior.

Syntax

Common Shared <group>As Group AxisName=<axis> {AxisName=<axis>}              {Model=<robot model>} {Of <point type>}

Availability

All versions

Type

Model : Long

Range

Bolded models are the defaults (point-type must be specified).

Two classes of groups:

• Without kinematics – simple class where all axes are treated as homogeneous (of same type linear/rotary). Translational/rotational classification is ignored (vtran,vrot, atran, arot, ...).
• With kinematics – either specific built in types (PUMA, SCARA, ...) or a general cartesian (model=1) group in which axes are automatically assigned to specific cartesian axes (X, Y, Z, Yaw, Pitch, Roll) and translational vs. rotational parameters separately treated.

Scope

Configuration or Terminal

Limitations

• Write only.
• Axes being defined as part of the group must not be moving.
• In case of Robot definition number of axes should match the robot model.

Examples

Common Shared XYTable as group AxisName=X_axis AxisName=Y_axis

Common Shared Scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4  model = 4

<point type> defines the point type to be used with the given robot kinematics model, for certain robot models different alternations are possible:

DELTA: default XYZR , also possible: XYZ

SCARA: default XYZR , also possible: XYZ

Scissor: default XYZR , also possible: XYZ

See Also

• GROUPLIST
• TYPEOF