Introduction to the axes groups (AXES_GROUP_REF)
According to the PLCopen specification " Function blocks for motion control: Part 4 - Coordinated Motion ", the relevant axes are summarised in axes groups. The following illustration shows the relation between the different coordinate systems:
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AxesGroup overview |
|
|---|---|
|
|
|
PCS |
Coordinate system referred to the product or workpiece |
|
MCS |
Coordinate system referred to the machine |
|
ACS |
Coordinate system referred to the axis |
The red-framed axes group in the illustration provides the interface to the user. For accessing a certain coordinate system, the function blocks for coordinate motion have a
CoordSystem
input which serves to make the respective selection (PCS, MCS or ACS).
Coordinate systems
Version information
Up to the library version V3.13.0.x, only the Limited parameter setting is permissible for the traversing range parameter (subindex 30 of the respective axis) of the drive axes and the Cartesian main axes of axes group.
From library version V3.13.1.x, all axes that represent a rotation can also be parameterised as Modulo . These are especially rotary drive axes (e.g. A1 and A2 for Scara_3dof) and the orientation axes A, B and C.
From library version V3.15.0.0, the Offset0-Subindex39 parameter is available.
- Up to the library version V3.14.x.x, the rotary axes A, B and C are aways interpreted in rotated x-y'-z" convention.