AEROSCRIPTPLUS datasheet(3/6 Pages) AEROTECH

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AUTOMATION1 AEROSCRIPTPLUS SPECIFICATIONS

TOOL CENTERPOINT PROGRAMMING

Topic

Description

TCP Machine Tool

Standards

Standards exist in the machine tool industry for

associating linear and rotary axes and defining positive

move directions of all axes. Adhering to these standards

removes uncertainty when anticipating how machine

axes will move in response to motion commanded in part

space.

The positive move directions and the orientation of the

axes in the Part coordinate system are defined per the

right hand rule as shown to the right. The left hand image

is for positive linear convention and the right hand image

is for positive angular convention.

Rotation occurs about a part linear axis per the

relationship shown in the figure to the right. When TCP is

active, the A axis rotates the tool center point about the

part X axis, the B axis rotates the tool center point about

the part Y axis and the C axis rotates the tool center point

about the Z axis.

Machine Configuration

To perform TCP kinematic calculations, the controller

must know the locations of the tool, part and rotary axes

and the configuration of the rotary axes.

Offset Position Configuration

A common approach to establishing machine

configuration is to specify offsets between the points of

rotation of the rotary axes and the location of the tool and

the part. This configuration mode accommodates the

input of coordinates based on their distances from the

Part or Tool Tip they are connected to.

Absolute Position Configuration

Another common approach is using the absolute

positions of all system elements based on their location in

a “World” coordinate frame.

Acceleration Limiting

The CoordinatedAccelLimit parameter will stop or slow

down path velocity for non-tangent linear moves.

The DependentCoordinatedAccelLimit parameter will stop

or slow down program velocity for non-tangent rotary axis

moves.

Note: The effect of changing speed on the machining

process may prevent the use of Acceleration limiting in

applications which require constant surface speed.

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