Tool Radius Compensation
trcApproachDepartSet
trcApproachDepartSet(approachRadius:= LREAL, approachAngle:= LREAL, departRadius:= LREAL, departAngle:= LREAL)
Configures the approach and depart behavior to use an arc of given radius and angle. If the product of radius and angle are zero, no approach or depart segment will be inserted.
The resulting configuration is used by G41
/G42
.
trcOffsetSet
trcOffsetSet(offset:= LREAL)
Configures the amount of segment extension that is used to close gaps. If offset
is zero, no extension will be performed.
The resulting configuration is used by G41
/G42
.
trcLimitSet
trcLimitSet(limit:= ULINT)
Configures the lookahead that is used for collision elimination.
The resulting configuration is used by G41
/G42
.
trcParam
trcParam(): TrcParamType
Returns the current configuration as a structure value.
trcParamSet
trcParamSet(param:= TrcParamType)
Configures the tool radius compensation. This function is an alternative that summarizes trcApproachDepartSet
, trcOffsetSet
and trcLimitSet
. It can be used in combination with trcParam
to load, save and restore different TRC (tool radius compensation) configurations efficiently.
TrcParamType
TrcParamType
This structure contains all configuration parameters of the tool radius compensation. It consists of the following parameters.
approachRadius: LREAL;
approachAngle: LREAL;
departRadius: LREAL;
departAngle: LREAL;
offset: LREAL;
limit: ULINT;
See trcApproachDepartSet, trcOffsetSet, trcLimitSet for a comprehensive description of the listed parameters.
collisionElimination
collisionElimination(nx:= LREAL, ny:= LREAL, nz:= LREAL, limit:= ULINT)
Activates collision elimination with respect to the plane of the normal vector nx
, ny
, nz
. Collisions within the projection of the path onto the plane are eliminated. Supplying a zero vector deactivates collision elimination. The limit
parameter can be used to restrict elimination to the last n
segments. By default, elimination is unlimited.
collisionEliminationFlush
collisionEliminationFlush()
This function can be called during active collision elimination to ignore any conflicts between the path preceding the call and the path succeeding the call.