Difference between revisions of "MC-Basic:group.CPLG"

From SoftMC-Wiki
Jump to: navigation, search
 
Line 1: Line 1:
 
{{MC-Basic
 
{{MC-Basic
 
|SHORT FORM=
 
|SHORT FORM=
<''group''>.cplg''['''column''' index]['''row''' index]''
+
<''group''>.cplg''['''row''' index]['''column''' index]''
  
 
|SYNTAX=
 
|SYNTAX=

Latest revision as of 06:04, 15 October 2017

Defines coupling matrix values. The matrix defines the relation between the joint positions and axis positions. The matrix must be non-singular. The matrix is taken into account only if the COUPLED flag is on (1). Each change of the coupling matrix resets the COUPLED flag to -1. In order that new coupling matrix values are taken the COUPLED flag must be set to 1.

Data Type           Double

Short form

<group>.cplg[row index][column index]

Syntax

<group>.couplingmatrix[column index][row index]

Availability

All versions

Range

mindouble-maxdouble

Units

Non-Volatile

Default

1 on diagonal elements

0 on the rest

Scope

Configuration, Task, Terminal

Write Access       Read and write

Limitations

Modal only. Writable in disabled state only. Group must be attached.

Examples

G1.cplg[1][1] =1

?g1.cplg[1][1]

for a 4-axis system having matrix defined as:
       cplg[1][1] = 1  cplg[2][1] = 0  cplg[3][1] = 0                  cplg[4][1] = 0
       cplg[1][2] = 0  cplg[2][2] = 1  cplg[3][2] = 0                 cplg[4][2] = 0
       cplg[1][3] = 0  cplg[2][3] = 0  cplg[3][3] = 1                cplg[4][3] = 0
       cplg[1][4] = 0  cplg[2][4] = 0  cplg[3][4] = 40/360       cplg[4][4] = 1

we have:  a3.pcmd = -40

a4.pcmd = 360

j3.pcmd = 0

See Also