Glossary

ACS

Axes Coordinate System: The system of coordinates related to the physical motors and the single movements caused by the single drives.

Blending

A way that consecutive Function Blocks cooperate in the transition from the first to the next.

Contour curve

Inserted curve that modifies the original path. It is the resulting curve after blending.

Coordinate system

The reference system in which a coordinate or path is described.

Corner deviation

The shortest distance between the programmed corner point and the contour curve.

Corner distance

Distance of the start point of the contour curve to the programmed target point.

Direction

The orientational components of a vector in space. (Note: this is different from the MC_Direction input as used in part 1).

Drive

A unit controlling a motor via the current and timing in its coils.

Group-FB

The set of Function Blocks that can work on a group of axes.

MCS

Machine Coordinate System: The system of coordinates that is related to the machine. A Cartesian coordinate system with the origin in a fixed position relative to the machine (the origin is defined during the machine setup).

Sometimes called “World Coordinate System” or “Base Coordinate System”.

(Note: with Cartesian build machines, MCS is a Cartesian Coordinate system and may be identical to ACS, or mapped via a trivial transformation). The coordinate system from the physical multiple axes ACS is linked to the MCS via a kinematic transformation (forward and backward conversion). The MCS represents an imaginable space with up to 6 dimensions.

Motor

An actuator focused to a movement, converting electrical energy in a force or torque.

Orientation

The rotational components of a vector in space.

Path

Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along.

PathData

Description of a path which can include additional information like velocity and acceleration.

PCS

The coordinate system of the product can be called PCS: Product Coordinate System (or “Program Coordinate System” in CNC world, or Programmers Coordinate System).

The PCS is based on the MCS typically by shifting and maybe rotating the MCS. The Zero point of the PCS is related to the product and can be changed during runtime by the program.

The real work piece can have a rotation or shift to the MCS (machine coordinate system) or even might be moving relative to the MCS (machine coordinate system). By specifying a trajectory in PCS one is able to describe the trajectory independent from the machine situation. To map these two worlds (MCS to PCS and vice versa), a cartesian or cylindrical transformation is normally done.

Position

Apoint in space which is described by different coordinates. Depending on the used system and transformation it can consist of up to 6 dimensions (coordinates) meaning 3 Cartesian coordinates in space and 3 coordinates for the orientation.

In ACS there can be even more than 6 coordinates.

If the same position is described in different coordinate systems the values of the coordinates are different.

Pose (not used)

Position and orientation (DIN EN ISO 8373). Position is used instead in this document.

Scara

A special kinematic for robot or handling applications.

Speed

The absolute value of the velocity without direction.

Synchronization

Combines an axis or axes group (as slave) with an axis as master in order that the slave executes its path with synchronization to the progress of the master, meaning linked to a one-dimension source for synchronization.

TCP

Tool Centre point, the point in the machine that is commanded to move, typically the center or the head of the tool. It can be described in different coordinate systems.

Tracking

Is characterized by an axis group that follows with its movement the movement of another axis group.

Trajectory

Time dependent description of the path the TCP of an axes group moves along. Additionally to the geometrical description of the space curve, time dependent state variables like velocity, acceleration, jerk, forces etc. are specified.

Velocity

In ACS: For a group of axes this means the velocities of the different axes.

Iin MCS and PCS: It provides the velocity of the TCP.