Represents the state of an axis group.
Inheritance Hierarchy
System.Object
IntervalZero.KINGSTAR.Base.Api.GroupStatus
Assembly: IntervalZero.KINGSTAR.Base.Api (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0
Syntax
public class GroupStatusPublic Class GroupStatus
The GroupStatus class exposes the following members.
Constructors
| Name | Description | |
|---|---|---|
 | GroupStatus | Initializes a new instance of the GroupStatus class. |
Fields
ACS: Axis Coordinate System.
MCS: Machine Coordinate System.
PCS: Product Coordinate System.
| Name | Description | |
|---|---|---|
 | AcsAccelerationActualValue | The actual acceleration in ACS. |
| AcsAccelerationSetValue | The set acceleration in ACS. |
| AcsPositionActualValue | The actual positions in ACS. |
| AcsPositionSetValue | The set positions in ACS. |
| AcsVelocityActualValue | The actual velocity in ACS. |
| AcsVelocitySetValue | The set velocity in ACS. |
| McsAccelerationActualValue | The actual acceleration in MCS. |
| McsAccelerationSetValue | The set acceleration in MCS. |
| McsPositionActualValue | The actual positions in MCS. |
| McsPositionSetValue | The set positions in MCS. |
| McsVelocityActualValue | The actual velocity in MCS. |
| McsVelocitySetValue | The set velocity in MCS. |
| MotionError | A group error value that is only available when the group is in groupErrorStop state (GroupState). |
| PathAccelerationActualValue | The actual path acceleration. |
| PathAccelerationSetValue | The set path acceleration. |
| PathVelocityActualValue | The actual path velocity. |
| PathVelocitySetValue | The set path velocity. |
| PcsAccelerationActualValue | The actual acceleration in PCS. |
| PcsAccelerationSetValue | The set path acceleration. |
| PcsPositionActualValue | The actual positions in PCS. |
| PcsPositionSetValue | The set positions in PCS. |
| PcsVelocityActualValue | The actual velocity in PCS. |
| PcsVelocitySetValue | The set velocity in PCS. |
| State | The state of an axis group. |
MCS and PCS parameters
In MCS and PCS, positions, velocity and acceleration don't require an array whose size is 64 because they use Cartesian coordinate system to present the machine's coordinates. In ACS, each axis needs its own coordinate. Since each group can contain up to 64 axes, the array size in ACS is 64.
Position
The array size of MCS and PCS positions is 14, which contains the following parameters.
Reserved: this is a reserved parameter that might be changed in the future.
E1–E6: a mechanical device that is used with a robot, such as a linear rail or an extension.
| Parameters | Data type | Description |
|---|---|---|
| X | double | MCS or PCS X-axis position in user unit. |
| Y | double | MCS or PCS Y-axis position in user unit. |
| Z | double | MCS or PCS Z-axis position in user unit. |
| RX | double | MCS or PCS X-axis rotation angle in degrees. |
| RY | double | MCS or PCS Y-axis rotation angle in degrees. |
| RZ | double | MCS or PCS Z-axis rotation angle in degrees. |
| Config | double | The configuration of joint, such as the posture of a robot arm. Each configuration corresponds to a piece of motion code. (Reserved) |
| TurnNumber | double | How many turns a joint makes. If it is a robot arm, you may need to control this because too many turns could result in a tangle of wires, which is dangerous. (Reserved) |
| E1 | double | The position of the first external axis in user unit. (Reserved) |
| E2 | double | The position of the second external axis in user unit. (Reserved) |
| E3 | double | The position of the third external axis in user unit. (Reserved) |
| E4 | double | The position of the fourth external axis in user unit. (Reserved) |
| E5 | double | The position of the fifth external axis in user unit. (Reserved) |
| E6 | double | The position of the sixth external axis in user unit. (Reserved) |
Velocity
The array size of MCS and PCS velocity is 6, which contains the following parameters.
| Parameters | Data type | Description |
|---|---|---|
| X-axis velocity | double | The first derivative of the MCS or PCS X-axis position in user unit. |
| Y-axis velocity | double | The first derivative of the MCS or PCS Y-axis position in user unit. |
| Z-axis velocity | double | The first derivative of the MCS or PCS Z-axis position in user unit. |
| X-axis angular velocity | double | The first derivative of the MCS or PCS X-axis rotation angle in degrees. |
| Y-axis angular velocity | double | The first derivative of the MCS or PCS Y-axis rotation angle in degrees. |
| Z-axis angular velocity | double | The first derivative of the MCS or PCS Z-axis rotation angle in degrees. |
Acceleration
The array size of MCS and PCS acceleration is 6, which contains the following parameters.
| Parameters | Data type | Description |
|---|---|---|
| X-axis acceleration | double | The second derivative of the MCS or PCS X-axis position in user unit. |
| Y-axis acceleration | double | The second derivative of the MCS or PCS Y-axis position in user unit. |
| Z-axis acceleration | double | The second derivative of the MCS or PCS Z-axis position in user unit. |
| X-axis angular acceleration | double | The second derivative of the MCS or PCS X-axis rotation angle in degrees. |
| Y-axis angular acceleration | double | The second derivative of the MCS or PCS Y-axis rotation angle in degrees. |
| Z-axis angular acceleration | double | The second derivative of the MCS or PCS Z-axis rotation angle in degrees. |
See also