Groups 06/2005 Danaher Motion
136 Rev E M-SS-005-03l
If you use SYS.VORD and <group>.VORD simultaneously, the axis speed is
reduced by the product of both override properties. For example:
Sys.VOrd = 66 ‘Reduce entire system to 2/3 speed
GroupB.VOrd = 50 ‘Reduce GroupB to 1/3 speed
You cannot override an axis in a group. Once an axis is part of a group, it
cannot be controlled independently.
6.11.1.1. MOTION ASSIGNMENT
After assignment, a generic element can be used in all motion commands as
a representative of another, usually “real”, motion element. All activities
performed on the generic element identically affect the “real” element.
Common Shared Scara As Group AxNm = A1 AxNm = A2 AxNm = A3 AxNm = A4 Model = 4
Gen_Group = Scara
In Task1.Prg:
‘ Scara is attached to Task1.Prg through its generic representative Gen_Group
Attach Gen_Group
? “Scara is attached to “ Scara.AttachedTo
? “Initial position of Scara is “ Scara.PFb
‘ Scara is moved through its generic representative Gen_Group
Move Gen_Group {-300,-500,-40,0} absolute = 1
Sleep 200
? “Final position of Robot is “ Scara.PFb
…
Detach Gen_Group
-> Scara is attached to TASK1.PRG
-> Initial position of Scara is {0 , 0 , 0 , 0}
-> Final position of Scara is {-300 , -500 , -40 , 0}
6.11.1.2. MOTION PROPERTIES
Through assignment, a generic element acquires all properties of the
element being assigned to it. Properties of “real” elements can be queried
through their generic representatives.
Gen_Axes_List[1] = A1
While Gen_Axes_List[1].IsMoving <> 0
Sleep 1
End While
Sys.Dout.1 = 1
Changes made in properties of generic elements identically affect the
properties in the referenced “real” elements.
Print “Position Factor and Acceleration of A1 Before SetUp: “ A1.Pfac, A1.Acc
‘ Set A1’s properties through Gen_Axes_List[1]
Call AxisSetUp(Gen_Axes_List[1])
Print “Position Factor and Acceleration of A1 After SetUp: “ A1.Pfac, A1.Acc
-> Position Factor and Acceleration of A1 Before SetUp: 65536 1000
-> Position Factor and Acceleration of A1 After SetUp: 32768 1500
