Path traversing behavior
8.1 Tangential control (TANG, TANGON, TANGOF, TLIFT, TANGDEL)
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
453
Meaning
TANG: Preparatory operation for the definition of tangential
tracking:
TANGON: Activate tangential control for the specified following axis
TANGOF: Deactivate tangential control for the specified following axis
TLIFT: Activate the "Insert intermediate block at contour corners"
function
TANGDEL: Delete definition of tangential tracking
<Faxis>: Following axis: additional tangential following rotary axis.
<Laxis1>,<Laxis2>: Leading axes: path axes, which determine the tangent for
the following axis.
Coupling factor: Relationship between the angular change
of the tangent and the tracked axis
Default: 1
<coupling factor>:
Note:
A coupling factor of 1 does not have to be programmed
explicitly.
Identification letter for coordinate system
"B": Basis coordinate system (Default)
Note:
<
CS> = "B" does not have to be explicitly
programmed.
<CS>:
"W": Workpiece coordinate system (not available)
Optimization
"S": Standard (default)
Note:
<
Opt> = "S" does not have to be explicitly
programmed.
<Opt>:
"P": Automatic adaptation of the characteristic over time
of the tangential axis and the contour
Note:
With <
Opt> = "P", the dynamic properties of the
following axis are taken into account in the velocity
limitation of the leading axes. This setting is
especially recommended when using kinematic
transformations.
<angle>: Offset angle of following axis
<Dist>: Smoothing path of following axis (required for <Opt> = "P")
<angular tolerance>: Angular tolerance of the following axis (optional; only
evaluated for
<Opt> = "P")
Note:
Parameters <
Dist>
and <Angular tolerance>
specifically limit the error between the tracked axis and the tangent of
the leading axes.
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