MC-Basic:group.CPLG
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[column index][row 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