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.

Parameterisation takes place as follows:

#CONTOUR MODE   [DIST[PRE_DIST<expr>][POST_DIST<expr>] [RELEVANT_PATH<expr>]

                                   [RELEVANT_TRACK<expr>][TRACK_DEV<expr>][REMAIN_PART<expr>]

                                   [<action>][CHECK_JERK<expr>][MAX_ANGLE<expr>] [CONST_VEL<expr>] ]

DIST

Contour with corner distance specified

PRE_DIST<expr>

Corner distance in [mm, °] after which there is a deviation from the original contour. Default value: 1 mm or 1°

POST_DIST<expr>

Corner distance in [mm, °] after which there is a return to the original contour. Default value: 1 mm or 1°

RELEVANT_PATH<expr>

Minimum path length of relevant post-blocks in [mm, °]

Default value: 0 mm or 0°

RELEVANT_TRACK<expr>

Minimum path length of tracking axis for relevant post-blocks in [mm, °].

Default value: 0 mm or 0°

TRACK_DEV<expr>

Maximum deviation of tracking axes in [mm, °]

Default value: 0 mm or 0°

REMAIN_PART<expr>

Distance to go in [0%-100%] of original block

Default value: 0 %

<action>

Time of execution of additional actions (M/H):

Keywords

Meaning

PRE_ACTION

Actions before the contouring curve.

INTER_ACTION

Actions in the contouring curve (default).

POST_ACTION

Actions after the contouring curve.

CHECK_JERK<expr>

Monitor the jerk, caused by curvature of the polynomial (cf. P-CHAN-00110).

Value

Meaning

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<expr>

Maximum contour knee angle in [°] for transitions between two linear blocks up to which contouring is active. If a circular block is included at the transition, the bend angle is not evaluated.

Default value: 178° (i.e. the entire contour is contoured)

CONST_VEL<expr>

Constant path velocity in the contouring section.

Value

Meaning

0

Without constant path velocity (default).

1

At constant path velocity.

Programing Example

prg_example

Corner distance contouring

...

N100 #CONTOUR MODE [DIST PRE_DIST=10 POST_DIST=5]

N110 G01 X100 G61

N120 G01 Y100

...

Corner distance contouring
Corner distance contouring