Some users might have noticed that if they have a head/table or a head/head 5 axis machine that the prepositioning to the inital XYZ positions looks strange in some cases on the machine since the machine is moving in 3 axis simultaneously to that position which is a risk for having collisions.
We have started to develop some code to avoid this behaviour, but we would like to get some feedback on this.
Imagine following:
You have a machine like this and you need to machine your part on 2 opposite sides:
In worst case, the movements on the machine will look like shown with the red lines.
The new method is using TCP for prepositioning and will look like the green lines.
This is done for heidenhain only for now, but it is possible to transfer this method to other posts also.
So, if you have a machine with this type of kinematic and you want to test it, please send an email to
[email protected] and we will send you a post which includes this new method.
Here is a snippet of this movement out of the nc program:
44 .......... 45 L X-0.4 Z+65 FMAX 46 PLANE RESET STAY 47 L Z-20.415 R0 FMAX M91 << move to safe Z height 48 * - 2D Contour2 49 M3 50 PLANE SPATIAL SPA+0 SPB+90 SPC+0 TURN FMAX SEQ+ << Indexing to the new orientation 51 PLANE RESET STAY << reset the workplane (ABC will stay into the new orientation) 52 M128 << enable TCP 53 L X+65 Y+26.2 R0 FMAX << move to global inital XY (ABC is already into the new orientation) 54 L Z-59.6 R0 FMAX << move to global inital Z 55 M129 << disable TCP 56 PLANE SPATIAL SPA+0 SPB+90 SPC+0 TURN FMAX SEQ+ << recall the workplane 57 L X+59.6 R0 FMAX 58 L Z+65 R0 FMAX 59 L Z+55 FMAX 60 ..............
Thanks in advance.
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