What are Axes Groups?

Related axes are grouped in an AxesGroup to support interpolation. AxesGroups are accessed via the type AXES_GROUP_REF. The following image shows the relationships between the different CSs and groups.

Figure 4-25: Overview of AxesGroup

The AxesGroup, shown in blue above, provides the interface to the user of the group of axes. To access the relevant coordinate system, the relevant function blocks have an input CoordSystem which supports the three levels ACS, MCS, and PCS.

Parameters in the AxesGroupRef can include remaining time and remaining distance before target position (or velocity or equal) is reached.