Explicit feed programming for MicroJoints (#CHANNEL SET)
Feed at / behind a MicroJoint
For technical process reasons, it may be necessary to limit the path velocity for a MicroJoint (in particular with an M function MOS which requires no acknowledgement). In addition, the path after the advanced M function (MicroJoint path) is completely traversed to the end at a change in velocity.
This can be defined by the following feed settings in the NC command #CHANNEL SET (see figure below “Feed definition with MicroJoints”).
#CHANNEL SET [ M_PRE_OUTPUT [ E=.. ] [ F=.. ] [ VECTOR_LIMIT_OFF ] ] | non-modal | |
E=.. | Block end velocity E of the previous MicroJoint (start of MicroJoint) | |
F=.. | Feed velocity within the MicroJoint (path between the position of the advanced M function and the originally programmed position of the M function) | |
VECTOR_LIMIT_OFF | Deselecting a possible dynamic limitation. If one of the previously programmed dynamic influences is active via #VECTOR LIMIT (VEL, ACC, DEC), it is suppressed within the MicroJoint range. | |
Programing Example
Explicit feed programming for MicroJoints
%microjoint16
N01 G00 G90 X0 Y0
N02 G01 F100
N05 #CHANNEL SET [M_PRE_OUTPUT E=20 F=5000]
N10 V.G.M_FCT[100].PRE_OUTP_PATH = 8; in mm
N20 G91 Y1
…
N40 Y10
N50 M100 M26
N99 M30
Notice
If the F or E word is not specified, the feed for the advanced M function and subsequent motion blocks is not changed.
MicroJoint feed across multiple blocks
When the pre-output of the M function is advanced across multiple blocks, the feed of all MicroJoint motion blocks is also changed to the specified value.
A possibly explicitly programmed feed is replaced by the specific MicroJoint feed.
Programing Example
MicroJoint feed across multiple blocks
%microjoint17
N01 G01 G90 X0 Y0 F100
N05 #CHANNEL SET [M_PRE_OUTPUT E=20 F=5000]
N10 V.G.M_FCT[100].PRE_OUTP_PATH = 15; in mm
…
N40 G91 Y10 F7500
N50 M100 M26
N99 M30
Notice
Specifying a MicroJoint specific feed replaces the possible explicitly programmed feed of the NC block.
See example above:
F7500 in N40 is replaced by F5000.
Programing Example
Increased feed with M11, decreased feed with M12
%microjoint16
V.G.M_FCT[11].SYNCH = "MOS"
V.G.M_FCT[11].PRE_OUTP_PATH = 125
V.G.M_FCT[12].SYNCH = "MOS"
V.G.M_FCT[12].PRE_OUTP_PATH = 325
N300 #CHANNEL SET [M_PRE_OUTPUT E=250 F=1500]
N01 X-222 G01 F1000
N10 X10
N20 X100
N30 X200 M11 (125mm)
N32 #VECTOR LIMIT ON[VEL=500]
N35 #CHANNEL SET [M_PRE_OUTPUT E=150 F=750]
N40 X300
N41 X310
N42 X320
N43 X330
N44 X340
N45 X350
N46 X360
N47 X370
N48 X380
N49 X390
N50 X500
N60 M12 (325mm)
N70 X600
N80 X700
M30
Programing Example
Suppress VECTOR_LIMIT during MicroJoint
%microjoint18
V.G.M_FCT[11].SYNCH = "MOS"
V.G.M_FCT[11].PRE_OUTP_PATH = 125
V.G.M_FCT[12].SYNCH = "MOS"
V.G.M_FCT[12].PRE_OUTP_PATH = 325
N300 #CHANNEL SET [M_PRE_OUTPUT E=250 F=1500]
N01 X-222 G01 F1000
N10 X10
N20 X100
N30 X200 M11 (125mm)
N32 #VECTOR LIMIT ON[VEL=500]
N35 #CHANNEL SET [M_PRE_OUTPUT E=150 F=750 VECTOR_LIMIT_OFF]
N40 X300
N41 X310
N42 X320
N43 X330
N44 X340
N45 X350
N46 X360
N47 X370
N48 X380
N49 X390
N50 X500
N60 M12 (325mm)
N70 X600
N80 X700
M30
