How to Create an Axis Group Adding objects to the device tree The following steps describe how to create and configure an axis group. Create a new standard project with CODESYS Control . For the POU P
Axis Group Editor Symbol: In the editor of the Axis group object, select the type of basic kinematics and orientation kinematics. Orientation kinematics can be selected only when it is supported by th
Axis Group States The image below shows the possible states for axis groups and the transitions between the states. The errors of individual axes always direct the axis group to the GroupErrorStop sta
Configuration of the Planning Task The movement planning of the axis group is done in a separate task which is automatically created with the name "SoftMotion_PlanningTask" when an axis group is inser
Kinematics Included in CODESYS SoftMotion Table 66 . Gantry systems Name Representation Can be linked with orientation kinematics Additional Information Gantry2 ✓ Kin_Gantry2 (FB) Gantry3 ✓ Kin_Gantry
Combination of Position and Orientation Kinematics With the axis group configurator, you can combine position kinematics and orientation kinematics. As a result, a large number of robots can be config
Kinematic Configurations A kinematic configuration describes the layout of the axes in an axis group to one another. Depending on the kinematics, several configurations are possible for the same TCP p
Configuring a Tool Offset You can set the offset between the flange coordinate system of the kinematics (XYZ) and the TCP coordinate system of the kinematics (X'Y'Z') by means of configuring a tool of
