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CODESYS CNC：Introduction to Operational Architecture

DIN66025 G：Code Standard

CODESYS CNC：Kinematic Model

AGENDA

CODESYS CNC：Introduction to Operational Architecture

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3

DIN66025 G：Code Standard

CODESYS CNC：Kinematic Model

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CODESYS CNC

CODESYS CNC Frame

CNC Editor

IEC-Application

Drive Interface

Interpolator

Inverse kinematics transformation

kinematics transformation

Buffer

Buffer

Decoder

Path- pre-

processor(s)

OutQueue

OutQueue

CNC_REF

CNC Editor

Graphical DIN 66025 editor (G-code support)

G-code editing

Graphical display

CNC Editor

CNC Editor in Visualization

CNC Editor

CNC Editor

Changing the Graphics Editor Display

Edit CNC code

Import/export CNC codes

CNC菜单栏

CNC Editor

switch between both views

Accelerate.

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Uniform speed

Decelerate

CNC Editor

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SMC_OutQueue

SMC_CNC_REF

File

SMC_NCDecoder

SMC_ReadNCFile

Path �preprocessing

SMC_CheckVelocity

Interpolator

SMC_RoundPath SMC_SmoothPath

。。。

Buffer

(ARRAY [x..y] OF SMCGeoInfo)

Buffer

(ARRAY [x..y] OF SMCGeoInfo)

SMC_Interpolator

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NC_Decoder

SMC_SmoothPath

SMC_CheckVelocities

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Data processing queue

Path preprocessing method

• Configuration in the editor

- Display of pre-processing results in the graphical editor

• Creation of CNC files in OutQueue format.

• PLC program realization

• Via FunctionBlocks

Configure path preprocessing in CNC settings

SMC_CheckVelocities

■The main task of this function block is to check the path of sharp bends and reduce the speed at these bends to zero.

■Allowable Angle Limit🡪 dAngleTol bCheckAddAxVelJumpChecking additional axis speed jumps dMaxAddAxVelDifferenceMaximum permissible velocity step jump from axis

SMC_RoundPath

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Adds an arc path between two lines

▪ Input:

• OutQueue (poqDataIn)
• Distance from edge dRadius(added to Dxx in G code)
• Allowable angle limit(dAngleTol)
• New OutQueue buffer

▪ Output:

• OutQueue (poqDataOut)

bAbort:Termination block handling

bAppend: This input set to FALSE clears the DataOutQueue each time it is reset. set it to TRUE and the new incoming data will be written to the end of the DataOutQueue.

SMC_RoundPath

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nSizeOutQueue:UDINT

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OutQueue buffer value size

pbyBufferOutQueue:POINTER TO A

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OutQueue buffer Pointer

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SMC_RoundPath

d

d=min(1/2L1, 1/2L2, (dRadius+D))

L1

L2

First path length L1 Second path length L2 Distance from corner to cutoff point d G52 D?

Therefore, the object is cut to at most half the length of the shorter object.

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SMC_RoundPath

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▪ G Activation in code

▪ G52 Activate circular path

▪ G50 Cancel circular path

▪ D Distance from edge

▪ Example: G52 D10

▪ For smoothing edges (using spline)

▪ Input:

• Distance from edge dEdgeDistance (Dxx appended to G-code)
• New OutQueue buffer
• bSymetricalDistances symmetry distance
• eMode

− SP_SPLINE3: Insert 3rd order spline.

− SP_SPLINE5: Insert 5th order spline.

SMC_SmoothPath

bSymetricalDistances TRUE

bSymetricalDistances FALSE

SMC_SmoothPath

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▪ Output:

• OutQueue (poqDataOut)

▪ How to activate?

▪ G51 activates smoothing

▪ G50 de-activate smoothing

▪ D (distance from edge)

▪ Example: G51 D10

SMC_SmoothAddAxes

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This function smoothes the motion of additional axes that are distributed among multiple objects. This allows the additional axes P, Q, U, V, W to have the same slope and the axes A, B and C to use optimized polynomial motion profiles.

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How to activate?

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G71 Lxx Activate Smooth G70 Lxx Deactivate

In the case of additional axes A, B and C, the user can determine which part of the path is available to the additional axes for acceleration/deceleration and which part runs at a constant speed. 0: no acceleration/deceleration phases are set. 1: no constant motion can be generated. 0.5: the acceleration phase plus the deceleration phase takes the same amount of time as the constant motion. In the case of additional axes A, B and C, the user can determine which part of the path is offered to the additional axes for acceleration/deceleration and which part runs at constant speed.

SMC_SmoothBSpline

Segments of consecutive G1 elements are smoothed using five B-splines. Each segment consisting of at least five consecutive G1 elements of non-zero length is replaced by a spline. The start and end positions of the G1 elements are used as control points for the created B Spline Curve. Only the start and end positions of the segments are interpolated exactly.

■ H functions are not supported

■ Changes to G51, G52, G40, etc. are not supported and will be ignored

■ 3D mode required

■ Can be turned on and off from G code using G38/G39

• TC_BLIND_POS:
• TC_RAMP_IN:

Inserts an empty run path element. Accelerate to the second element.

SMC_ToolCorr

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Function block for tool radius correction

▪ Input:

• OutQueue (poqDataIn)
• Tool radius dToolRadius (appended to Dxx in G-code)
• New OutQueue buffer
• eMode

SMC_ToolCorr

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▪ Output:

• OutQueue (poqDataOut)

▪ How to activate?

▪ G40 Tool radius compensation off

▪ G41 Left tool radius compensation

▪ G42 Right tool radius compensation

▪ D (tool radius)

▪ Example: G41 D13

SMC_ToolCorr

G41 Left tool radius compensation

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Original path

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G42 Right tool radius compensation

SMC_AvoidLoop

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Function blocks are used to eliminate loops in the path.

▪ Input:

• OutQueue (poqDataIn)
• New OutQueue buffer
• Outputs:
• OutQueue (poqDataOut)

▪ How to activate?

▪ G61 Avoid Cycling On

▪ G60 Cycle Avoidance Off

▪ Example: G61

G42

right tool radius compensation

Tool change

Activation Avoidance Cycle

SMC_AvoidLoop

Other FBs for path preprocessing

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▪ There is no need to activate it in G-code.

▪ Configuration/Programming Only

▪ Input:

• OutQueue (poqDataIn)
• New OutQueue buffer

▪ Output:

• OutQueue (poqDataOut)

SMC_CheckForLimits

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▪ Checks if the position of the defined axis (X,Y,Z,...) is between piMin and piMax.

▪ Enter wAddAxis to specify the axis to be checked

❿ X – Bit0

❿ Y – Bit1

❿ Z – Bit2

❿ …

SMC_ExtendedVelocityChecks

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▪ This function limits the velocity, acceleration, and deceleration of the path so that the final velocity, acceleration, and deceleration of the additional axes (P, Q, U, V, W, A, B, C, and Z in 2D mode) do not exceed the values set in F and E. The final velocity, acceleration, and deceleration of the additional axes will not exceed the values set in F and E.

▪ These restrictions are usually found in G codes using the G code words FZ, FP, FQ, FU, FV, FW, FA, FB, FC, and EZ, EP, EQ, EU, EV, EW, EA, EB, EC.

▪ FZ0, FP0, ... , FC0 Reset the speed limit of the additional axes. EZ0, EP0, ... , EC0 Reset the acceleration or deceleration limits of the additional axes. , EC0 Reset the acceleration or deceleration limits of the additional axes. FZ and EZ are only valid in 2D mode.

CNC路径预处理

SMC_LimitCircularVelocity

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▪ This function block limits the path speed of circular elements based on their radius.

▪ This function block controls the transition between two elements (a line on an arc, an arc on a line, or an arc on an arc) and adjusts the ending velocity of the first element so that the acceleration jumps do not exceed the value dMaxAccJump. In addition, the function block limits the acceleration in the X and Y directions to the value dMaxAcc.

SMC_LimitDynamics

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▪ This function block reduces the velocity and acceleration/deceleration of the path so that the final velocity, acceleration, and deceleration of the Cartesian axes and the additional axes do not exceed the input values dMaxVel, dMaxAcc, and dMaxDec. --- (This is a limit set at the pin that will not be exceeded)

▪ Enter wAddAxis to specify the axis to be checked

❿ X – Bit0

❿ Y – Bit1

❿ Z – Bit2

❿ …

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FB blocks for management

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• SMC_RotateQueue2D
• SMC_ScaleQue3D
• SMC_TranslateQueue3D

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SMC_RotateQueue2D

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This function block will rotate the path stored in poqDataIn around the z-axis by the angle given by dPhi[°]

• dPhi

Positive values -> rotate counterclockwise

Negative values -> rotate clockwise

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SMC_ScaleQueue3D

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This function block will stretch the path contained in poqDataIn by the factor fScaleFactor.

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SMC_TranslateQueue3D

This function block transforms the paths stored in poqDataIn according to the vector given by vec

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vec：SMC_VECTOR3D

View path preprocessing in CNC Editor

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▪ Configure path preprocessing in CNC settings

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▪ Activate "Show Path Preprocessing"

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SMC_Interpolator

▪ Calculate the position of a given path at certain time intervals

SMC_Interpolator

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• SMC_OUTQUEUE (FB)

▪ Used to convert the continuous path described by the SMC_GEOINFO object to discrete path position points

• SMC_GEOINFO (STRUCT)

▪ Used to store a path object

• SMC_POSINFO (STRUCT)

▪ Position of additional axes describing their coordinates and specific location points

SMC_Interpolator

• Input:bExecute
• PoqDataIn (OutQueue) (Path)
• Deceleration stop(bSlow_Stop)
• Emergency stop（bEmergency_Stop）
• Waiting stop（bWaitAtNextStop）
• Magnification(dOverride）
• Speed Mode(iVelMode)

▪ Trapezoidal

• S-shape

• Cancel(bAbort)
• One-step(bSingleStep)

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Confirmation of M function(bAcknM)

SMC_Interpolator

• Done（bDone）
• Position (point of contour) (piSetPosition)
• Current state（iStatus）

▪ Current point path speed (dVel)

• Current point path tangent(vecActTangent)
• Line number of the current processing path (iActObjectSourceNo)
• Path Switch , H Function(dwSwitches)
• Distance calculation (dWayPos)

▪ M Function (wM)

SMC_Interpolator2Dir

▪ Ability to interpolate a trajectory inversely

SMC_XInterpolator

• SMC_XInterpolator Function blocks enable the mixing of CAM and CNC.

SMC_Interpolator

▪ Input:

• poqDataIn (OutQueue) (Path)
• Velocity Mode(iVelMode)

▪ Trapezoidal

• S-shaped
• magnification(dOverride）
• cancel(bAbort)
• one-step(bSingleStep)
• Confirmation of M function(bAcknM)

SMC_Interpolator

▪ Output:

• Position (point of contour) (piSetPosition)

▪ Current point path speed (dVel)

• Current point path tangent(vecActTangent)
• Line number of the current processing path (iActObjectSourceNo)
• Path switch (dwSwitches)
• Distance calculation (dWayPos)

▪ M Function (wM)

AGENDA

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CODESYS CNC：Introduction to Operational Architecture

DIN66025 G：Code Standard

CODESYS CNC：Kinematic Model

The German standard DIN 66025 is one of the most advanced international CNC standards and is widely used in Europe.

G代码

G代码

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G-code

(This is a nice G code program) N000 F100 E100 E-100

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N010 G01 X100 Y100

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▪ Each line represents a path (in red).

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▪ Each line consists of multiple keywords (in blue)

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▪ Each keyword defines a variable value

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▪ Each line starts with N+number (e.g. "N010")

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▪ Comments are put in brackets

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(This is a nice G code program)

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N000 F100 E100 E-100 N010 G01 X100

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• F for feed rate [path-units/sec] (feed)

• E+ positive value indicates acceleration [path-units/sec2]

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• E+ negative for deceleration [path-units/sec2]

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▪ G01 is linear interpolation (see online help for other G-code commands).

▪ Move 100 units in phase X direction (direction + distance)

Don't forget the speed of movement and acceleration and deceleration!

G代码

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G-code

▪ N010 G01 X100

🡪Move to position X100 at speed 100

▪ N020 G01 Y100

🡪Move in the Y direction with a speed of 100, using the original position as a reference point.

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▪ N030 G01 X0 Y0 F50

🡪Move to position X0,Y0 at speed 50.

▪ N040 G01 Y100

🡪Move in the Y direction with speed 50 to position 100

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G代码

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G-code

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▪ N000 F100 E100 E-100

program)

▪ N010 G01 X100

▪ N020 G01 Y100

▪ N030 G01 X0 Y0

▪ N040 G01 Y100

▪ N050 G01 X50 Y150

▪ N060 G01 X100 Y100

G-code

(This is a nice G code

▪ N000 F100 E100 E-100

▪ N070 G01 X0

▪ N080 G01 X100 Y0

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Y+

X+

G代码

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Commonly used G-code

CODESYS 版权所有

G代码

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Commonly used G-code

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CODESYS 版权所有

CODESYS 版权所有

G代码

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Commonly used G-code

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CODESYS 版权所有

CODESYS 版权所有

G代码

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Commonly used G-code

CODESYS 版权所有

G代码

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Commonly used G-code

G代码

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Commonly used G-code

G代码

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Commonly used G-code

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G代码

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Commonly used G-code

CODESYS 版权所有

CODESYS 版权所有

■ Supported dimensions.

X Y Z: Cartesian coordinate system A B C: rotation axis

P Q U V W: additional axis

■ Defining Motion Limits: F: Velocity Definition

E+: acceleration definition E-: deceleration definition

■ Interacting with other processes：

M: Execute machine start-up action and wait for confirmation

H: Position monitoring logic switch

AGENDA

1

CODESYS CNC：Introduction to Operational Architecture

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2

DIN66025 G：Code Standard

CODESYS CNC：Kinematic Model

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3

CNC运动学变换

Kinematic Transformation

• The interpolator outputs the position (X,Y,Z,...) in the Cartesian coordinate system via piSetPosition.
• Cartesian coordinate system -> Axis coordinate system (according to the mechanical structure) .

▪ Gantry (position  position)

▪ Scara (position→ angle)

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Supported kinematic models

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▪ Gantry systems (2-axis/3-axis)

▪ Gantry system with tools

Supported kinematic models

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▪ Gantry system with rotary cutting axis

Supported kinematic models

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▪ Gantry 5-axis system

Supported kinematic models

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▪ H Gantry

▪ T Gantry

Supported kinematic models

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▪ polar coordinate system

Supported kinematic models

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Scara robot

Supported kinematic models

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▪ parallel robot

Supported kinematic models

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▪ 4-axis palletizing robot

Supported kinematic models

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▪ 6-axis robot

CNC DEMO

COD