MCBasic: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
Description  robotmodel code  pointtype 

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 



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 (pointtype 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