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
| name | code | point |
|---|---|---|
| no model | -1 | |
| Cartesian | 1 | |
| Puma | 2 | XYZYPR |
| No Coupling | 3 | |
| SCARA | 4 | XYZR |
| User Defined | 5 | |
| Delta(Flex Picker) | 6 | XYZR |
| Traverse Arm (Speed Picker) | 7 | XYZR |
| Scissor Kinematics | 8 | XYZR |
| 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 |
| Dual Arm | 14 | XYZR |
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