#CAXTRACK ON – Activating automatic axis tracking / activating tangential following

Activates tangential control and sets the offset angle to the tangent. Specifying the parameters is optional. However, not all parameters or their arguments are allowed as tangential control settings. For some parameters, a certain value must be used, while some parameters are ignored or lead to a fault. If a parameter is specified by name, it must be followed by a permitted value. A parameter must always be specified in the G-code in the notation parameter name "space" argument (value). The sequence of parameters is arbitrary. It is also permitted to not specify any parameters (and in this case no arguments), which only activates tangential control.

INFORMATION: The "slave" or "tracking" axis in tangential control is defined by the main plane. In the G-code, this must be defined by the commands G17 (XY), G18 (ZX) or G19 (YZ).

Permitted optional parameters:

OFFSET <REAL>
Corresponds to the Angle offset from tangent parameter in the SRL command SET_TANGENTIAL_PARA, i.e. the angular offset between the path tangent and the coordinate axis of the tool coordinate system to be aligned ("tool inclination"). See Setting tangential control.

Conditional permitted optional parameters:

(These are optionally permitted with the specified argument, but do not cause any other behavior. With other arguments, they lead to a fault during import.)

ANGLIMIT 0
"ANGLIMIT" is used to parameterize a limit angle above which an alignment movement is inserted. Since MOVIKIT^® Robotics always inserts an alignment movement when the angle is exceeded by 0°, only argument 0 is permitted.
ROTMODE 0
With "ROTMODE", argument 0 indicates the tracking of the tool and is supported by MOVIKIT^® Robotics. Argument 1 however indicates a tracking axis in the workpiece and leads to a fault during import.
OPTALIGN <REAL>
"OPTALIGN" is used to parameterize a limit angle above which an optimized alignment takes place. MOVIKIT^® Robotics always aligns on the shortest distance. The argument is not used.
SCALEFACT 1
"SCALEFACT" is used to parameterize a scaling of the tracking angle. Values unequal to 1 lead to a fault during import.
AX <Address letter : X, Y, Z, A, B, C>
"AX" is used to identify the tracking axis via the identifier. In the case of MOVIKIT^® Robotics, the tangential control is performed in the main plane of the circular interpolation, as in the case of the Beckhoff TwinCAT CNC dialect, defined by G17/G18/G19. The argument of AX is not used.

Parameters that are not accepted:

(Regardless of the argument, these always lead to a fault during import, as the functions are not supported by MOVIKIT^® Robotics)

AXNR <REAL 1-6>
"AXNR" specifies the logical axis number of an additional axis for tangential control.
START_STROKE
"START_STROKE" is used to parameterize a directional sequence.
SYMMETRIC_TOOL
"SYMMETRIC_TOOL" is used to activate the alignment movement on the shortest path to a tool side when using symmetrical tools (e.g. knives with 2 blades).
ANGPOS
"ANGPOS" specifies the target position for positioning after deselecting tangential control.

There are no corresponding G-code commands or parameters for the other tangential control functions. These must be set in the Configuration. These user settings are always written when the #CAXTRACK ON command is used in the G-code. The settings can only be seen in the resulting SRL program. To be able to reuse the settings for another import, it is recommended to save the configuration in a file. For more information, refer to chapter G-Code Conversion.

Syntax: Observe Notation of the command syntax

#CAXTRACK ON [ [OFFSET <REAL | REAL Variable>] [ANGLIMIT 0] [ROTMODE 0] [OPTALIGN <REAL>] [SCALEFACT 1] [AX <Address letter : X,Y,Z,A,B,C> ]

INFORMATION: The brackets in bold must be specified if optional parameters are available.

Example (1)

#CAXTRACK ON

Example (2)

#CAXTRACK ON [OFFSET 45.05]

Or, for example

#CAXTRACK ON [OFFSET 45.05, ANGLIMIT 0, ROTMODE 0,OPTALIGN 123.45, SCALEFACT 1, AX C]

Example (3)

#CAXTRACK ON [OFFSET AngleOffset]

Or, for example,

#CAXTRACK ON [OFFSET ANGLIMIT 0, AngleOffset, ROTMODE 0,

OPTALIGN 123.45, SCALEFACT 1, AX C]

AngleOffset define AngleOffset as a G-code REAL variable. See Use of variables.

Implementation in the SRL program:

SET_TANGENTIAL_PARA

Activate tangential control := TRUE

Example (1)

Angle offset from tangent := 0 [°]

Example (2)

Angle offset from tangent := 45.05 [°]

Example (3)

Angle offset from tangent := REALVAR AngleOffset

In each example, the following settings are added by the configuration:

Limit angle for lifting and CallFunction :=

Lifting height at alignment :=

Use CallFunction at alignment :=

CallFunction index before alignment :=

CallFunction index after alignment :=