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