GC_MOVE_PREP (176)

ID                          176

 

 

Application:

PLC

 

Group: MOTION

 

Short description:

Function that prepares the motion parameters for the current G-code related to the motion.

 

Inputs (3):

no.	type	impulse	mark	notes
1	B	yes ( 0->1 )	exe	Change from 0 to 1 - block activation
2	B	yes ( 0->1 )	vector_end	end signal with linear interpolation in the motion trajectory smoothing mode M1008=1
3	R	-	e	the max value of the deviation for the Smooth mode (dla M1008=1)
4	R	-	cos_f	the cos angle at which the vectors are considered to be parallel to the value of the interval (0,1)

Outputs (19):

no.	type	impulse	mark	notes
1	B	yes ( 0->1->0 )	G0_ptp	positioning without interpolation
2	B	yes ( 0->1->0 )	G1_vector	positioning with linear interpolation
3	B	yes ( 0->1->0 )	G2_circle_cw	Positioning with clockwise circular interpolation
4	B	yes ( 0->1->0 )	G3_circle_ccw	Positioning with counterclockwise circular interpolation
5	R	-	X	Target position X
6	R	-	Y	Target position Y
7	R	-	Z	Target position Z
8	R	-	I	Position I
9	R	-	J	Position J
10	R	-	vel	Resultant movement speed
11	R	-	vel_begin	Initial movement speed
12	R	-	vel_end	End movement speed
13	R	-	acc	Acceleration
14	R	-	dec	Braking
15	R	-	acc_jerk	Acceleration jerk
16	R	-	dec_jerk	Braking jerk
17	B	no	xy	Selection of the plane of movement in a circle
18	B	no	xz	Selection of the plane of movement in a circle
19	B	no	yz	Selection of the plane of movement in a circle
20	R	-	r_out	calculated arc radius for Smooth mode (dla M1008=1)
21	B	no	smooth	switched on at the start of the motion VECTOR, if an arc will be executed along a straight line in the motion trajectory smoothing mode, switched off after the vector_end signal
22	B	yes ( 0->1->0 )	Error	error signal
23	I	-	Error_ID	Error ID: 1 - the current g-code is not of the G type, the error concerns the R3091 register, 2 - the current g-code is not a movement, the error concerns the R3071 register, 3 - the smoothing case does not exist - it concerns joining straight lines with arcs

 

Settings (X):

no.	type	impulse	mark	notes
1	I	-	virt_X
2	I	-	virt_Y
3	I	-	virt_Z
4	R	-	acc
5	R	-	dec
6	R	-	acc_jerk
7	R	-	dec_jerk
8	R	-	psf	position scaling factor: X, Y, Z, I, J, Next_X, Next_Y, Next_Z, earc

Function operation:

The block sets the motion parameters for a given line from the G-code table if that line is related to the motion execution. The block is only used during the first cycle of each move. The PTP, Vector, Circle_CW, Circle_CCW outputs are active for one controller cycle. These outputs should be connected to the inputs of the PTP, VECTOR or CIRCLE blocks.

The function uses the marker M1008. M1008 = 1 - smoothing turned on, M1008 = 0 - smoothing turned off

Before specifying new motion parameters and running the Vector, Circle_CW, and Circle_CCW outputs:
- the function checks the states of special registers: _Last_G, _Last_M1008 (i.e. M1009)
- the function checks if the next G-code is the R3097 movement (_Next_G) = 1
- checks the state of the M1008 marker
- checks the condition '-2' and '-3'
- using the table below sets the appropriate values ​​for the outputs vel_begin and vel_end
- runs vector output
- conditionally waits for vector_end input activation
- conditionally runs the output of Circle_CW or Circle_CCW

There are 6 ways of the function operation (the last column of the table)

1: vel_begin = 0, vel_end = 0, we pass the destination point directly from the current G-code, run VECTOR, we do not wait for activation vector_end

2: vel_begin = vel, vel_end = 0, we pass the destination point directly from the current G-code, run VECTOR, we do not wait for activation vector_end

3. vel_begin = 0, vel_end = vel, we calculate a new destination point for VECTOR and CIRCLE, run VECTOR, turn on smooth = 1 output, wait for vector_end activation, insert vel_begin = vel, execute CIRCLE, turn off Smooth output = 0

4. vel_begin = vel, vel_end = vel, we calculate a new destination point for VECTOR and CIRCLE, run VECTOR, wait for vector_end activation, execute CIRCLE

5. vel_begin = vel, vel_end = vel, we pass the destination point directly from the current G-code, run VECTOR, we do not wait for activation vector_end

6. vel_begin = 0, vel_end = vel,  we pass the destination point directly from the current G-code, run VECTOR, we do not wait for activation vector_end

 

Block settings calculator gc_move_prep

Smooth function table: