Corner distance contouring
If the point from which the original contour may be left is known, the user can explicitly specify the corner distances of the pre-blocks and post-blocks by which the adjacent motion blocks are to be shortened.
The corner distances are limited if they do not exceed the minimum residual block length .
If the corner distances a and b are specified as identical, the other corner distance is symmetrically limited if one corner distance is limited to the minimum remaining block length.
If the corner distances a and b are specified as different, only the distance which is too long is reduced if limited. With asymmetrical path lengths, this can lead to a "degenerated” contour but this may sometimes be desirable.
Syntax of parameterisation: |
#CONTOUR MODE [ DIST [PRE_DIST=..] [POST_DIST=..] [RELEVANT_PATH=..] [RELEVANT_TRACK=..] [TRACK_DEV=..] [REMAIN_PART=..] [<action>] [CHECK_JERK=..] [MAX_ANGLE=..] [CONST_VEL=..] ] |
DIST | Contouring with corner distance specified |
PRE_DIST=.. | Corner distance in [mm, inch*] after which there is a deviation from the original contour. Default value: 1 mm *when P-CHAN-00439 is active |
POST_DIST=.. | Corner distance in [mm, inch*] after which there is a return to the original contour. Default value: 1 mm *when P-CHAN-00439 is active |
RELEVANT_PATH=.. | Minimum path length of relevant post-blocks in [mm, inch *] Default value: 0 mm |
RELEVANT_TRACK=.. | Minimum path length of tracking axis for relevant post-blocks in [°]. Default value: 0 ° |
TRACK_DEV=.. | Maximum deviation of tracking axes in [°] Default value: 0 ° |
REMAIN_PART=.. | Distance to go in [0%-100%] of original block Default value: 0% |
<action> | Identifier for time of execution of additional actions (M/H): PRE_ACTION: Actions before contouring curve. INTER_ACTION: Actions in contouring curve (default). POST_ACTION: Actions after contouring curve. |
CHECK_JERK=.. | Jerk monitoring caused by curvature of the polynomial (cf. P-CHAN-00110) with: 0: Without jerk monitoring (default). 1: Jerk monitoring based on the geometric ramp time (P-AXIS-00199). This may reduce path velocity. 2: Jerk monitoring based on ramp times P-AXIS-00195 up to P-AXIS-00198 of the non-linear velocity profile |
MAX_ANGLE=.. | Maximum contour knee angle in [°] for transitions between two linear blocks up to which contouring is active. Default value: 178° (i.e. the entire contour is contoured) |
CONST_VEL=.. | Constant path velocity in the contouring section with: 0: Without constant path velocity (default). 1: At constant path velocity. |
Programing Example
Contouring with corner distance
...
N100 #CONTOUR MODE [DIST PRE_DIST=10 POST_DIST=5]
N110 G01 X100 G61
N120 G01 Y100
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