1 23 20101 New Automation Technology Beckhoff TwinCAT CNC NC Programming 1 23 20102 Overview Functionality and Programming Introduction TwinCAT CNC 1 23 20103 Important Features Maximum number of axis 64 Maximum number of axis Spindle per channel 32 6 Number independent channels 12 Lowest interpolation unit0 0001 mm 0 1 m Rapid speed 0 000001 3000 m min Feed rate0 000001 3000 m min TwinCAT CNC 1 23 20104 Syntax Programming language DIN 66025 with extensions G Functions comprehensive parameter calculation M H T Functions local und global subprograms control structures and loops Special functions clear text commands control arguments e g axis exchange messages spline interpolation slope channel synchronization TwinCAT CNC 1 23 20105 Mathematical Expressions Arithmetical standard operations close to C programming language MOD ABS SQR SQRT EXP LN DEXP LOG INV SIN COS TAN ASIN ACOS ATAN INT FRACT ROUND TwinCAT CNC 1 23 20106 Path Conditions G00 Linear interpolation in rapid speed G01 Linear interpolation with programmed feed rate G02 G03 Circular interpolation G02 G03 K Helical interpolation TwinCAT CNC Target Start z x y y x M 10 10 20 30 40 50 20304050 N30 N20 N10 P P 12 Y 60 40 20 20406080100120 X P1 P2 Drag axis U P1P3 30405060708090 80 P3 P2 Main axes here only X and Y are shown 1 23 20107 Offsets TwinCAT CNC 1 23 20108 Units and Dimensions G70 G71 Units G70Inch data input G71Metric data input Default G90 G91 Dimensioning G90Absolute dimensioning G91Relative dimensioning TwinCAT CNC 1 23 20109 Homing G74 execute homing Sequential N10 G74 X3 Z1 Y4 Homing order Z X Y Parallel N10 G74 X3 Z3 Y3 Homing of all axes starts at the same time TwinCAT CNC 1 23 201010 Measuring G100 Measurement with different axis Type 1 Measuring N10G00X0Y0Z0 N20X5 N30G100X10Y10F500 N40G01X7 N50M30 Additional measuring types Measurement with a single axis Type 2 Measurement with movement to target point G106 Type 3 Measurement with main axis Type 4 Measurement with interrupt and jump G310 Type 5 6 Calculation of measurement offset G101 G102 TwinCAT CNC x y Measuring trigger 10 5710 1 23 201011 Measuring Edge banding G108 in one movement G108 G107 for several movements TwinCAT CNC sensor knife roller band 1 23 201012 Selection of Planes G17 X Y plane modal default G18 Z X plane G19 Y Z plane G20 Free plane selection TwinCAT CNC G18 Z X G19 Y Z G17 X Y 2nd Axis e g Y 1st Axis e g X 3rd Axis e g Z 1 23 201013 Mirroring Mirroring functions e g X Y plane G21 Mirroring on the Y axis G22 Mirroring on the X axis G23 Superimposing of G21 G22 G24 De selection of mirroring TwinCAT CNC y x M BPV Mentale Koordinaten Programmierte Kontur 10 10 10 10 20 30 40 50 2030405060708090 0 X Bei aktiver Spiegelung WRK links der Kontur WRK rechts der Kontur 0 X BPV G92 BPV Mentale Kontur 0 x Spiegelung des Bezugspunktes nicht aktiv Spiegelung des Bezugspunktes aktiv 1 23 201014 Rotation Contour rotation ROTATION ON ANGLE CENTER1 CENTER2 ROTATION OFF Works in main plane before all other contour manipulation functions TwinCAT CNC ANGLE CENTER1 CENTER2 1 main axis 2 main axis 1 23 201015 Polynomial Contouring Polynomial contouring G61 Selection non modal G261 Selection modal G260 De selection modal Different Modes CONTOUR MODE Automatic contouring Edge distance contouring Edge deviation contouring Intermediate step contouring TwinCAT CNC PZ PZ e Corner deviation 1 23 201016 Inserting of Chamfers and Rounding Both functions work once in between two motion blocks G301Inserting of chamfers G302Inserting of rounding TwinCAT CNC P1 P2 N10 N20 N30 I 40 N10 G91 G01 X80 Y 40 F100 N20 G301 I40 N30 G01 X80 Y40 P1 P2 Start X Y P2 P1 N10 N20 N30 I 30 Start N10 G91 G01 F100 X60 N20 G302 I30 X Y P1 P2 N30 X 40 Y 55 M 1 23 201017 Tool Radius Compensation TRC Tool radius compensation works on the plane selected with G17 G18 or G19 TwinCAT CNC Programmed path Corrected path WORKPIECE Selection De selection Calculation of pt of intersection Tool Circle transition G26 Stright line transition G25 Transition angle 1 23 201018 Commands for Tool Radius Compensation Overview of all relevant G functions for TRC G40De selection of TRC modal default G41Selection of TRC left of contour modal G42Selection of TRC right of contour modal G138Direct selection de selection of TRC modal G139Indirect selection de selection of TRC modal default G05Tangential selection de selection of TRC non modal G25Linear transition for TRC modal default G26Circular transition for TRC modal G10Feed rate constant modal default G11Feed rate adapted modal G140De selection of contour masking modal default G141Selection of contour masking modal TwinCAT CNC 1 23 201019 Corner Feed Rate Reduction Corner feed rate reduction Keep spindle edge power limit by reducing the feed rate SET CORNER PARAM G12 G13 TwinCAT CNC t Vz 1 23 201020 Feed Rate Adaptation Feed rate adaptation for tool radius compensation G10 G11 TwinCAT CNC MW rprog rcorr Vprog Vcorr Tool center point Programmed radius Corrected radius Programmed velocity C