MC-Basic:COMMON SHARED ... AS GROUP
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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
| Description | robot-model code | point-type |
|---|---|---|
| no model | -1 | |
| Cartesian | 1 | |
| Cartesian (Pitch & Roll) | 1 | PR |
| Cartesian ( X and Y) | 1 | XY |
| Cartesian (X , Y and Roll) | 1 | XYR |
| Cartesian (X , Y and Z) | 1 | XYZ |
| Cartesian (X , Y , Z and Roll) | 1 | XYZR |
| Cartesian (X , Y , Z , Roll and Pitch) | 1 | XYZRP |
| Cartesian (X , Y , Z ,Yaw , Roll and Pitch) | 1 | XYZYPR |
| Puma | 2 | XYZYPR |
| |
|
|
| SCARA (X, Y, Z and Roll) | 4 | XYZR |
| SCARA (X, Y, Z ) | 4 | XYZ |
| User Defined | 5 | |
| Delta(Flex Picker) (X, Y, Z and Roll) | 6 | XYZR |
| Delta(Flex Picker) (X, Y, Z ) | 6 | XYZ |
| Traverse Arm (Speed Picker) (X, Y, Z and Roll) | 7 | XYZR |
| Traverse Arm (Speed Picker) (X, Y, Z ) | 7 | XYZ |
| Scissor Kinematics (X, Y, Z and Roll) | 8 | XYZR |
| Scissor Kinematics (X, Y, Z ) | 8 | XYZ |
| Chair Side Engine - 5ON | 9 | XYZAB |
| Chair Side Engine - 5OFF | 10 | XYZAB |
| 3PPPR | 11 | XYR |
| Lab Side Engine - 5ON | 12 | XYZAB |
| Lab Side Engine - 5OFF | 13 | XYZAB |
| 4 Bar linkage | 14 | XY |
| GSR | 15 | XYZPR |
| EVEREST - 5ON | 16 | XYZPR |
| EVEREST - 5OFF | 17 | XYZPR |
| PALLETIZING ROBOT | 18 | XYZR |
| Linear Delta robot | 21 | XYZR |
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