Automatic contouring with maximum corner deviation (Type 1)
Corner distance is automatically determined and is the same for pre-block and post-block. For determining an estimated value for the required corner distance, the maximum spatial acceleration of the axis data and the desired (programmed) traversing velocity are included.
Corner distance is dimensioned according to the following boundary conditions :
- The contour path should be able to be traversed as far as possible without any reduction in the maximum velocity.
- The specified maximum corner deviation should not be exceeded.
- The main difference to the contouring with corner deviation (type 4) lies in the consideration of the axes dynamics. If moving with the programmed velocity does not need the maximum polynomic length the polynomic is shortened.
This proceeding is qualified for:
- Depending on the programmed velocity the corner distance can be changed. I.e. the polynomic contour may be different with different programmed speed.
- No cinematic/cartesian transformation is active, because of the effort the estimation does not include any transformation.
- The parametering is done using the following statement
#CONTOUR MODE [ AUTO_DEV [PATH_DEV<expr>] [RELEVANT_PATH<expr>]
[RELEVANT_TRACK<expr>] [TRACK_DEV<expr>] [REMAIN_PART<expr>]
[<action>] [CHECK_JERK<expr>] [MAX_ANGLE<expr>] [CONST_VEL<expr>]]AUTO_DEV Automatic contouring with maximum corner deviation
PATH_DEV<expr> Maximum deviation from programmed contour in mm
Default value: 1 mm
RELEVANT_PATH<expr> Minimum path length of relevant post-blocks in mm
Default value: 0 mm
RELEVANT_TRACK<expr> Minimum path length of tracking axis for relevant post blocks in mm.
Default value: 0 mm
TRACK_DEV<expr> Maximum deviation of the coupled axes in mm
Default value: 1 mm
REMAIN_PART<expr> Remaining part in percent [0; 100] of the original block
Default value: 0 %
<action> Time of execution for additional actions:
Valid key words | Significance |
|---|---|
PRE_ACTION | Execution before the contour curve. |
INTER_ACTION | Execution during the contour curve (default). |
POST_ACTION | Execution after the contour curve. |
CHECK_JERK<expr> Monitoring of jerk, caused by the curvature of the polynomic (see [1]-41).
Value | Significance |
|---|---|
0 | Without jerk monitoring (default). |
1 | Jerk monitoring based on the geometric ramp time [2]-16. Possibly the path velocity is reduced. |
2 | Jerk monitoring based on the ramp times[2]- 21..24 of the non-linear velocity profile. |
MAX_ANGLE<expr> Maximum contour angle for transitions between two linear blocks in degrees, up to it contouring is active. The contour angle is not considered, if one of the transition blocks is a circular block.
Default value: 0° (this means, all path elements are contoured)
CONST_VEL<expr> Constant path velocity in the contouring area.
Programming example
