Difference between revisions of "MC-Basic:COMMON SHARED ... AS GROUP"

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|RANGE=
 
|RANGE=
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Model :      4          for SCARA robot (XYZR robot type )
 
  
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Model :      2          for PUMA robot (XYZYPR robot type )
 
  
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Model :      6          for DELTA robot (XYZR robot type )
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<TABLE border="1" align=left summary="This table gives list of all available Kinematics models in AMCS">
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<CAPTION><EM>Available AMCS model codes </EM></CAPTION>
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<TR><TH>name<TH>code<TH>point</TR>
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<TR><TD>no model<TD>-1<TD>
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<TR><TD>Cartesian<TD>1<TD>
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<TR><TD>Puma<TD>2<TD>XYZYPR
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<TR><TD>No Coupling<TD>3
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<TR><TD>SCARA<TD>4<TD>XYZR
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<TR><TD>User Defined<TD>5<TD>
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<TR><TD>Delta(Flex Picker)<TD>6<TD>XYZR
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<TR><TD>Traverse Arm (Speed Picker)<TD>7<TD>XYZR
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<TR><TD>Scissor Kinematics<TD>8<TD>XYZR
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<TR><TD>Chair Side Engine - 5ON<TD>9<TD>XYZAB
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<TR><TD>Chair Side Engine - 5OFF<TD>10<TD>XYZAB
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<TR><TD>3PPPR<TD>11<TD>XYR
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<TR><TD>Lab Side Engine - 5ON<TD>12<TD>XYZAB
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<TR><TD>Lab Side Engine - 5OFF<TD>13<TD>XYZAB
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<TR><TD>Dual Arm<TD>14<TD>XYZR
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</TABLE>
  
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Model:       7          for Traverse Arm robot (XYZR robot type)
 
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Model :      8          for Scissor robot (XYZR robot type)
 
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Model :      9          5-Axis Customer specific model (CSE) (XYZAB robot type)
 
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Model :      10        5-Axis Decoupled Customer specific model (CSE)
 
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Model :      11        3 Point Planar Parallel Robot (XYR robot type)
 
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Model:       12        5-Axis Customer specific model (LSE) (XYZAB robot type)
 
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Model :      13        5-Axis Decoupled Customer specific model (LSE)
 
  
  
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|SEE ALSO=
 
|SEE ALSO=
 
* [[Axystems:MC-Basic:GROUPLIST|GROUPLIST]]
 
* [[Axystems:MC-Basic:GROUPLIST|GROUPLIST]]
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* [[Axystems:MC-Basic:robot.TYPEOF|TYPEOF]]
  
 
}}
 
}}

Revision as of 12:40, 17 January 2011

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

Available AMCS model codes
namecodepoint
no model-1
Cartesian1
Puma2XYZYPR
No Coupling3
SCARA4XYZR
User Defined5
Delta(Flex Picker)6XYZR
Traverse Arm (Speed Picker)7XYZR
Scissor Kinematics8XYZR
Chair Side Engine - 5ON9XYZAB
Chair Side Engine - 5OFF10XYZAB
3PPPR11XYR
Lab Side Engine - 5ON12XYZAB
Lab Side Engine - 5OFF13XYZAB
Dual Arm14XYZR

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

Retrieved from "http://softmc.servotronix.com/index.php?title=MC-Basic:COMMON_SHARED_..._AS_GROUP&oldid=9871"