Motion Groups Node

This help topic describes the editors on the 'Motion Groups' PLANT node.

Currently, this category contains only one device that supports different kinds of mechanisms as described below. This component generate a AXES_GROUP_REF variable in the 'Data List' of the 'PLC' node. This variable can then be used with special motion control FBs.

The 'Motion Groups' in the PLANT node provides the following editors:

'Configuration'
'Mechanism'
'Limits'

On the 'Configuration' editor page, the 'Mechanism type' can be set (which is then to be specified' using the 'Mechanism' editor.
Drop-down list offers the following mechanisms:

Mechanism type	Description of the mechanism
nD Gantry	6 degree of freedom max. Support prime axis. Support Auxiliary axis : Axis not part of the kinematics but that can be used along with the Group FBs.
Coupled Gantry	Support H-Bot, T-bot, Core XY Kinematics
Delta	Support XYZ & Rz Mechanics supported: Custom (user is in charge of enter every length needed for the kinema calculation). MPP3H (Yaskawa delta) & MPP3S (Yaskawa delta) The only difference between these compared to the custom mechanism, is that the mechanical length of each part is already input so the user doesn’t have to enter them manually.
Delta 2	Support XZ & Rz Mechanics supported: Custom (user is in charge of enter every length needed for the kinema calculation).