User guide
154
6000 Series Programmer's Guide
You can store the maximum number of paths possible (see table above) as long as each path
has at least one segment, and the sum of all the segments of all the paths does not exceed the
controller's memory limitation for paths. All path definitions may be compiled and ready to
execute at any time. Paths defined using 6000 commands are specified with a path name.
Once a path definition is compiled, it may be executed repeatedly without being re-compiled.
Deleting (DEL) an existing path name will automatically delete the existing path compilation
with that name. The PUCOMP command only deletes (“uncompiles”) the path compilation,
not the path program.
Example
Code
In the example commands below, storage space is made available for the definition of path
WID3 by first deleting the compiled version of paths WID1 and WID2. The DEF statement
begins the definition of the path WID3.
PUCOMP WID1 ; Remove compilation of WID1
PUCOMP WID2 ; Remove compilation of WID2
DEF WID3 ; Begin definition of WID3
Participating Axes
NOTE
The mechanical resolution of all participating axes (identified with PAXES command) must be
identical; scaling cannot compensate for mechanical variances. In addition, all participating
axes must have the same PULSE settings and the same DRES settings (steppers only) or the
same number of feedback device counts per unit of linear travel (servos only). If you
change the PULSE setting, you will need to recompile (PCOMP) any previously compiled paths.
2-Axis Contouring You can change the X-Y plane to an Y-X plane by using the PAXES command. A path
definition default is PAXES1,2. For any path that uses axis 2 as the X axis and axis 1 as the
Y axis, the path definition must start with PAXES2,1 (see example below)
Example
Code
DEF DRAW1 ; Begin definition of DRAW1
PAXES2,1 ; Set contouring axes (axis #2 is X axis, axis #1 is Y axis)
4-Axis Contouring Some contouring applications may require the execution of more than one path to complete a
part or finish an operation. The application may require that different paths take place in
different planes of a three dimensional work area. In addition, some of the paths may require a
third axis to move either tangent, or proportional to the path. For these reasons, a four-axis
controller offers great flexibility in the specification of participating axes.
You may want to begin your path definition with the PAXES command; this will ensure that
you have specified the appropriate axes to participate in the path. The X, Y, tangent (C) and
proportional (P) axes can be specified as any of the four axes, and this specification must be
made before any of the path travel specifications are made. The X and Y axes must be
specified, the third (tangent) axis labeled C and the fourth (proportional) axis labeled P are
optional.
The C axis will maintain an angular position which changes linearly with the direction of
travel in the X-Y plane. This allows the C axis to control an object, which must stay tangent
(or normal) to the direction of travel such as a cutting tool. The C axis must also be specified
by its signed resolution. The magnitude of the resolution is the number of C axis motor steps
in 360 degrees of an arc drawn by the X and Y axes. The sign of the resolution specifies the
direction of rotation of the C axis. Refer to the PTAN command.