Axes Grouping

Within this specification for interpolation, the related axes are grouped in an “AxesGroup”, and can be accessed via the type AXES_GROUP_REF. The relationship between the different axis levels and groups is shown hereunder.

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Overview AxesGroup

The AxesGroup shown in red above provides the interface to the user of the group of axes.

Note

AC500: All group movement is applied to the MCS or PCS axes. The output “isActivePCS” from the transfor-mation block shows if a PCS system is active.

  • isActivePCS=true => all group movement is done in the PCS (product coordinate system).
  • isActivePCS=false => all group movement is done in the MCS (machine coordinate system).

A movement in ACS coordinates could be done by using single axis blocks and the respective ACS axis as AXIS_REF.

Parameters in the AxesGroupRef can include remaining time and remaining distance before target position (or velocity or equal) is reached.

COMC_GROUP_CARTESIAN