Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Writing and Executing Motion Programs
297
Note that the behavior for lead-in moves is different from changing the compensation radius from zero to
a non-zero value while compensation is active. An arc move is always added at the corner, regardless of
the setting of Isx99. This ensures that the lead-in move never cuts into the first fully compensated move.
a non-zero value while compensation is active. An arc move is always added at the corner, regardless of
the setting of Isx99. This ensures that the lead-in move never cuts into the first fully compensated move.
Treatment of Compensated Inside Corners
Inside corners are still subject to the blending due to the TA and TS times in force (default values set by
coordinate system I-variables Isx87 and Isx88, respectively). The longer the acceleration time the larger
the rounding of the corner. (The corner rounding starts and ends a distance F*TA/2 from the
compensated, but unblended corner.) The greater the portion of the blending is S-curve, the squarer the
corner will be.
coordinate system I-variables Isx87 and Isx88, respectively). The longer the acceleration time the larger
the rounding of the corner. (The corner rounding starts and ends a distance F*TA/2 from the
compensated, but unblended corner.) The greater the portion of the blending is S-curve, the squarer the
corner will be.
When coming to a full stop (e.g. Step, Quit, or DWELL at the corner) at an inside corner, Turbo PMAC
will stop at the compensated, but unblended, corner point.
will stop at the compensated, but unblended, corner point.
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Line to Line
Line to Arc
Arc to Arc
Arc to Line
Line
Line
Programmed
Path
Tool Center
Path
Arc
Inside Corner Cutter Compensation
r
r
r
r
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
Line to Arc
r
r
Programmed
Path
Tool Center
Path
Arc
Arc
r
Arc
r
Arc
Arc
Treatment of Outside Corners
For outside corners, Turbo PMAC will either blend the incoming and outgoing moves directly together,
or it will add an arc move to cover the additional distance around the corner. Which option it chooses is
dependent on the relative angle of the two moves and the value of I-variable Isx99.
or it will add an arc move to cover the additional distance around the corner. Which option it chooses is
dependent on the relative angle of the two moves and the value of I-variable Isx99.
The relative angle between the two moves is expressed as the change in directed angle of the motion
vector in the plane of compensation. If the two moves are in exactly the same direction, the change in
directed angle is 0
vector in the plane of compensation. If the two moves are in exactly the same direction, the change in
directed angle is 0
o
; if there is a right angle corner, the change is +/-90
o
; if there is a complete reversal, the
change in directed angle is 180
o
.
Isx99 specifies the boundary angle between directly blended outside corners and added-arc outside
corners. It is expressed as the cosine of the change in the directed angle of motion (cos0
corners. It is expressed as the cosine of the change in the directed angle of motion (cos0
o
=1.0,
cos90
o
=0.0, cos180
o
=-1.0) at the boundary of the programmed moves. The change in directed angle is
equal to 180
o
minus the “included angle” at the corner.