Path Action
5.3 Continuous-path mode (G64, G641, G642, G643, G644)
Fundamentals
210 Programming Manual, 11/2006, 6FC5398-1BP10-2BA0
G641 also operates with "Look Ahead" predictive velocity control. Corner rounding blocks
with a high degree of curvature are approached at reduced velocity.
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Continuous-path mode G64/G641 over several blocks
The following points should be noted in order to prevent an undesired stop in the path motion
(relief cutting):
• Auxiliary function outputs trigger a stop (exception: high-speed auxiliary functions and
auxiliary functions during movements).
• Intermediate blocks, which contain only comments, calculation blocks or subroutine calls
do not affect the movement.
Extensions of corner rounding
If FGROUP does not contain all the path axes, there is often a step change in the velocity at
block boundaries for those axes excluded from FGROUP; the control limits this change in
velocity to the permissible values set in MD32300 $MA_MAX_AX_ACCEL and MD32310
$MA_MAX_ACCEL_OVL_FACTOR. This braking operation can be avoided through the
application of a rounding function, which "smoothes" the specific positional interrelationship
between the path axes.
Corner rounding with G641
You can activate a modal corner rounding action by programming G641 and specifying a
rounding radius with ADIS (or ADISPOS in rapid traverse). Within this radius about the block
change point, the control is free to ignore the path construct and replace it with a dynamically
optimized path. Disadvantage:Only one ADIS value is available for all axes.
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