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Understanding the differences between the coordinate frames and how they interact with each other is the key to accomplishing successful motion using groups. In Part 4 of PLCopen, the global standard for motion control on IEC 61131-3 programmable controllers, the concept of multi-axis coordinated moves using groups was introduced. Groups are collections of axes on a common mechanism that work together to provide a path of travel in 3-D space. Examples include gantry systems, articulated arm robots, delta robots, or linkage mechanisms; any device where multiple axes work together to provide multi-dimensional motion.

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