Auxiliary Axes for Groups
In order to support mechanisms which have additional custom degrees of freedom (such as an extruder axis on an XYZRz 3D printing gantry), additional "augmented" axes in an axes group can be configured.
Augmented axes have the following properties:
- They not part of Linear or Rotary coordinate-types. Therefore they do not contribute to, and are not influenced by scalar velocity/acceleration inputs to function blocks.
- In the scenario where a move is commanded which only has values in the augmented axes, MoveOptions.AlternateVel/AlternateAccel are used as the effective velocity/acceleration input.
- They appear after the nominal coordinates in ACS and MCS
- MCS locations shall be standardized: X[1], Y[2], Z[3], Rx[4], Ry[5], Rz[6], Aug1[7], Aug2[8],etc
- ACS: depends on the mechanism, but for example an XYZRz gantry + 2 augmented axes in ACS would be X[1], Y[2], Z[3], Rz[4], Aug1[5], Aug2[6]
- They do not have standardized names.
- They do NOT appear in any specialized 6-element XYZRxRyRz structures in AXES_GROUP_REF.
- Their values are passed through from MCS to ACS to the MSCS (motor shaft coordinate system) unmodified.
Auxiliary axes/Augmented axes are supported on all kinematics mechanism types, including Gantry, Delta2, Delta3, Scara, etc.