MC-Basic:COMMON SHARED ... AS MOVING FRAME OF ...

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This command is used to define moving frame as a global motion element. This data type is a global-only data type, and therefore cannot be defined locally in a program, or transferred as an argument of a function or subroutine. Moving frames are defined in relation to a type of robot, which should be one of the available robot types of point variables (locations and joints).

A Moving Frame has a number of properties that have to be set before the tracking process starts Type <robot_type>:

XYZR - three cartesian axes + roll

XY – two axes, XY table

XYZ – three axes, XYZ system

Syntax

COMMON SHARED <Moving Frame> as Moving Frame of <robot type>

Range

According to the Robot Type

Scope

Configuration, Task, Terminal

Since Version 4.5.17 the global (common shared ) declaration is also possible from the Library context.

Limitations

A valid robot type must be used.

Examples

Common Shared CMV asF Moving Frame of XYZR