Managing Motion Groups

You can create, read, update and delete the motion groups of a control device.

A motion group represents the subset of devices that are controlled by a control device, whose combined motion is involved in a motion task. The following device types can be included in a motion group:

  • Arm
  • End of arm tooling
  • Fixed
  • Workpiece positioner
  • Rail/Track/Gantry
  • Non Mounted device

Additionally, the following rules apply to motion groups:

  • Only one inverse kinematic device can be included in a motion group
  • Any number of forward kinematic devices can be included in a motion group
  • A single forward kinematic or inverse kinematic device can be included in any number of motion groups
  • An inverse kinematic device will always be the first device in a motion group

This task shows you how to:

Creating a new motion group

You can create a new motion group.

  1. In the Motion Controller section of the action bar, click Manage Motion Groups
    You are prompted to select a mechanical resource with kinematics.
  2. Select the resource that will be added to the new motion group.
    The Motion Groups dialog box appears.
  3. In the Motion Groups section, click .

    A new motion group is created and displayed in the Motion group list. The selected resource is added to the new motion group.

Adding a device to a motion group

You can select a resource and add it to a new or existing motion group.

  1. In the Motion Controller section of the action bar, click Manage Motion Groups
    You are prompted to select a mechanical resource with kinematics.
  2. Select the resource that will be added to the a motion group.
    The Motion Groups dialog box appears, and the selected resource is highlighted in the Programmable resources section.
  3. In the Motion groups list, select the motion group that the resource will be added to.
  4. Click the right arrow.
    The resource is moved into the selected motion group.

Removing a device from a motion group

You can select a device and remove it from an existing motion group.

  1. In the Motion Controller section of the action bar, click Manage Motion Groups
    You are prompted to select a mechanical resource with kinematics.
  2. Select the resource that will be removed from a motion group.
    The Motion Groups dialog box appears, and the selected resource is highlighted in the Programmable resources section.
  3. In the Motion groups list, click + next to the motion group that contains the resource to be removed.
    The motion group expands to display the resources it contains.
  4. Select the resource to remove from the list.
  5. Click the left arrow.
    The resource is removed from the motion group.

Deleting a motion group

You can delete existing motion groups.

  1. In the Motion Controller section of the action bar, click Manage Motion Groups
    You are prompted to select a mechanical resource with kinematics.
  2. Select a resource.
    The Motion Groups dialog box appears.
  3. In the Motion groups list, select the motion group to be removed.
  4. Click in the Motion groups section.
    The selected motion group is deleted.

Changing a device type

You can change the resource type of a selected device.

  1. In the Motion Controller section of the action bar, click Manage Motion Groups
    You are prompted to select a mechanical resource with kinematics.
  2. Select the resource.
    The Motion Groups dialog box appears, and the selected resource is highlighted in the Programmable resources section.
  3. Double-click the current value for Control type for the resource.

    The value is converted to a drop-down list.



  4. Select the desired resource type from the list.
    Upon selection, the resource type is changed for the device.