5
Special Motion Commands 04.00
5.5 Settable
ath reference
SPATH
UPATH
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5
840D
NCU 571
840D
NCU 572
NCU 573
810D
840Di
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Siemens AG 2000. All rights reserved
5-170
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA)
−
04.00 Edition
Therefore, for the axes not contained in FGROUP
there are two ways to follow the path:
1. Either they travel synchronized with path S
(SPATH)
2. or synchronized with curve parameter U of the
FGROUP axes (UPATH).
Both types of path interpolation are used in different
applications and can be switched via G codes SPATH
and UPATH.
UPATH and SPATH also determine the relationship of
the F word polynomial (FPOLY, FCUB, FLIN) with the
path movement.
Expansion of rounding
If all of the path axes are not contained in FGROUP, the
axes that are not included will often cause a sudden
change in velocity at block transitions. By reducing the
velocity at block change, the control can limit the extent
of this change to the permissible value set in MD 32300:
MAX_AX_ACCEL and MD 32310:
_MAX_ACCEL_OVL_FACTOR. This deceleration can
be prevented by rounding the specified position
relationship of the path axes.
•
Rounding with G641
Rounding is activated modally by means of G641
and specifying a rounding radius ADIS (or
ADISPOS in rapid traverse) for path functions. The
control is now free to dissolve the path relationship
within this radius around the block change point
and replace it with a dynamically optimum path.
Disadvantage: Only one ADIS value is
available for all axes.
See also: References /PG/, Programming Guide
Fundamentals, Chapter 5, Path Action
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