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

 

softMC robot-model codes:
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
No Coupling 3  
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

See Also