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1. Canned Cycles A canned cycle is a G code function designed to simplify commands for command machining operations drilling boring threading etc It defines a preset series of operations which direct machine axis movement causes a spindle operation to complete a machining cycle Canned cycles can greatly reduce the number of part program statements since one canned cycle statement may do the equivalent of many individual conventionally programmed statements Common canned cycles are defined by the G codes 81 to 89 Spindle Code Movement Dvwellat at Movement Typical Usage In Bottom Out Bottom G81 Feed Rapid Drill Spot Drill G82 Feed Yes Rapid Drill Counterbore G83 Intermittent Rapid Deep Hole G84 Spindle Rev Feed Tap Forward Feed G85 Feed Feed Bore Table 8 3 Common canned cycle codes 8 18 Soft Machines Creating SIL Tasks for NC Machines Spindle Code ves rants at Sree Typical Usage Bottom G86 Start Stop Rapid Bore Spindle Feed 2 S G87 Start Stop Manual Bore z O Spindle Z Feed G88 Start Yes Stop Manual Bore Spindle Feed G89 Feed Yes Feed Bore Table 8 3 Common canned cycle codes continued To simulate canned cycles we must construct a series of SIL tasks corresponding to the series of operations defined by the G code see Example 8 7 The default G code table in Soft Machines provides built in canned cycles G80 G81 for common 3 axis op
2. sil_load commands may appear inside of files loaded using sil_load This allows you to set up initialization sequences of arbitrary complexity a master initialization file might load a series of files which in turn load other files and so forth Developer s Guide 3 11 3 97 Working with SILCode Creating a New Product The following is a step by step description on how to create a new product 1 Enter this command in a shell window newproduct lt product gt This script will create the following directory cim templates lt product gt file cim templates lt product gt top_init sil file cim templates lt product gt base file cim templates lt product gt umodules directory cim gui help lt product gt top_init sil contains special initializing information for a product base are the layout configurations for the product umodules initially empty lists the modules comprising the product cim gui help lt product gt is a directory to hold online help files Create at least one new module so there is a place to put code specific for this product To do this enter newmodule lt module gt lt first version gt newmodule creates directories for the module as well as the first build area to include in the new product Add the following line to the file cim templates lt product gt umodules lt module gt lt first version gt Copy the top bar panel from cim gui panels mgui into the
3. r to N gt Fit Alt F Center Figure 10 68 The Fitmenu First select Center and you will see that this moves the origin of your part to the center of the window without changing its size Now select Fit and your part will be resized to take up the full window It is worth noting here that the zoom function above is for setting up the simulation During the simulation itself there is another zoom function available to enable you to zoom in on any area of the part of interest we will see this later For now we will start the first simulation Developer s Guide 10 141 3 97 Using First Cut Commence the Simulation Use the mouse to select the button labeled Simulate from the Metal Removal Window A shaded image of the stock is now displayed View Dynamic Fit Colors Display Modes Measure Figure 10 69 Simulating the stock 10 142 Soft Machines First Cut Tutorial Automatic Action Contol Select the button labeled Auto from the top of your Metal Removal Window to display the following menu Change color at cutter change Alt C 1 and repaint 4 Solid cutter a Continuous display of cutter J Write image at cutter change Write image at error 1 Enhance when writing image lt Record Alt R 1 Ignore holder and shaft gt oO N WL D a Figure 10 70 The Auto menu This menu controls actions that First Cut carries out automatically For example w
4. Go To End IZ O Slow Stop Figure 10 98 Snapshot Click the left mouse button in the window to remove it Click the left mouse button in the window to remove it You can also incorporate the image files into documents using any word processing or publishing software that accepts the xwd standard format This manual was produced using FrameMaker and the screen images have all been produced using the xwd utilities Exiting the First Cut Simulation Session To exit the session from your main window select the File button and then select Quit 10 168 Soft Machines First Cut Tutorial 5 5 6 D it D D Developer s Guide 10 169 3 97 Using First Cut 10 170 Soft Machines Index A aax geometric type 4 13 abstract class facility 2 29 2 33 astack 2 30 concrete classes 2 29 method see method acceleration 8 4 Accuracy 10 63 actions directory 3 10 activate procedure 2 38 add_gcode procedure 2 48 8 27 add_mcode procedure 2 48 8 28 affix command 6 8 affixing a model 6 8 application solutions 3 21 applications 2 16 apply operator 2 15 applyn operator 2 16 arc operator 5 2 ARRAY_BODY macro 3 34 array_of constructor 2 2 arrays 2 3 3 30 8 24 array_create command 2 3 carray 2 18 components 1 8 creating 2 3 integer 2 3 is_array function 2 10 mismatch error 2 3 passing to C 3 34 sarray 2 4 syntax for 2 3 as_type operator 2 21 as
5. When you read in a new NC file the following occurs e All control values and default cutter parameters are re set to their defaults e In Setup mode any existing stock and fixtures are deleted e In Simulation mode First Cut assumes you want to run the new NC program file against the existing work in process and ignores any geometry in the new file If the input file can t be read or contains errors a message is displayed in the message window 10 18 Soft Machines First Cut Functions The Read WIP file Selection This option is only available in Simulation mode Selecting Read WIP file from the File pulldown menu enables you to select a file Select the file you want and read it in as described above in The Read NC File Panel on page 10 16 This causes First Cut to delete any existing Geometry Windows and create new ones matching those when the file was written First Cut displays the solid WIP model in them After the file has been read you can run the normal simulation functions For example Step 1 Begin the simulation at the beginning of the NCV input file Step 2 Specify a subset range of cutter location IDs This is useful if you want to resume the simulation at a particular CL point 4 Select a subset box of cutter motions 5 Retrieve new cutter motions by reading in a new NCV input file The Write WIP file Selection The Write WIP file panel is used to create a work in pro
6. 1 Position at rapid to r above the control point 2 Feed a distance f1 r below the control point at feedrate inches minute oO a a re to a gt sagh A R Rapid retract to a position r above the control point n Rapid back down a distance f1 n below the control point 5 Feed a distance f2 below the control point 6 f8Rapid retract to a position r above the control point y 7 Rapid back down a distance f2 n below the control point 8 Feed a distance f3 below the control point Rapid retract to a position r above the control point Developer s Guide 10 107 3 97 Using First Cut 10 108 Examples of Usage To better illustrate the effects of different options on the DEEP cycle syntax a few typical examples are provided Example 1 CYCLE DEEP 3 INCR 1 IPR 02 15 025 This example shows the automatic repeating feature available when the total depth is specified The NC programmer must drill a 3 inch deep hole in steps of 0 1 throughout The feedrate will remain constant at 0 02 inches per spindle revolution The clearance distance will be 0 025 at each step The initial hole clearance will be 0 15 inches Example 2 CYCLE DEEP 5 INCR 5 5 5 5 5 IPM 10 5 IPM 8 DECR 05 This example shows the automatic repeating feature the specification of different feedrates at different depths and the use of the DECR option
7. In your Metal Removal Window in the simulation control area is a button labeled To End Select this and you will see the following pop up menu To Beginning Prev Error Prev Cutter Prev Point To Next Point To Next Cutter To Next Error To End Figure 10 72 To End choices oO y WL to N The highlighted buttons give you the option of how far you want the simulation to run before it halts automatically Next Point takes you to the next CL point Next Cutter takes you to the next cutter change Next Error takes you to the next error For the moment select To End to run completely through the simulation in one session we will look at the unhighlighted buttons later these are used in Playback mode Next select Go to begin the simulation Note that the Go button changes to Running while the simulation is active Developer s Guide 10 145 3 97 Using First Cut Rapid Motions The cutter color turns red to indicate RAPID motions Notice that when a RAPID motion cuts the part the cut is displayed in red and an error message is given Rapid Cut Figure 10 73 RAPID motions Stopping or Slowing Down the Simulation During the simulation you can select Stop to pause the program or Slow which causes the program to operate at one CL point per second 10 146 Soft Machines First Cut Tutorial Viewing in Transluc ent Mode You can make the stock model translucent dur
8. ORIENT angle DWELL Rey revolutions Developer s Guide 10 103 3 97 Using First Cut The jog and ORIENT angle options specify the orientation jog clearance and angle values respectively The DWELL option specifies the time to delay at full cycle depth before stopping the spindle If this option is specified then the ORIENT option cannot be specified and vice versa The BORE cycle causes the following motions to occur at each valid point within the cycle CYCLE BORE f IPM feed value r DWELL time 1 Position at rapid to r above the control point Feed a distance f r at feedrate inches minute Optionally dwell if DWELL is specified 4 Stop the spindle Optionally orient the spindle and jog tool tip away from the surface if ORIENT is specified Rapid retract to a position r above the control point Jog the tool back over the center of the hole if ORIENT is specified Restart the spindle REAM Cycle The REAM cycle performs a sequence of operations equivalent to the G85 fixed cycle in ISO 1056 10 104 Soft Machines NCV Input Data Formats The basic syntax is as follows IPM IPR CYCLE REAM depth MMPM ya feed value clear RAPTO start MMPR seconds L DWELL REV revolutions The REAM cycle causes the following motions to occur at each valid point within the cycle CYCLE REANM f IPM feed value r
9. The simplest way to consume simulated time from inside of a task is to call the most primitive temporal command Developer s Guide 2 35 3 97 7 sS to S E E nS Do e a Object Oriented Programming in SIL 2 36 delay lt seconds gt When called from inside of a task delay will cause the task to suspend itself until an indicated number of seconds have advanced Suspended tasks are also called sleeping or delayed tasks Example 2 14 illustrates how to call delay from within tasks Example 2 14 Index turret by angular increment task index_turret m nc_machine tur_incr real begin Unaffix tool lib from mount rotate by angular increment pause for ncv_tool_change_interval unaffix m tlib m changer_mount moveto m tlib mk_ypr 0 0 tur_incr rel pose m tlib affix m tlib m changer_mount delay ncv_tool_change_interval end Start and Run Although a single task can be executed by calling it in the same manner as a function or procedure it will not work when executing many tasks concurrently To do this you need to first place the tasks to be executed in the run queue by using the start command start lt task gt lt arg gt lt arg gt where lt arg gt lt arg gt are optional arguments to lt task gt The behavior of tasks run differs slightly depending on if you are programming in Menu Mode or in Text Mode In Menu Mode th
10. il NEETA ee fh i Adjustable Rail Spindle Head Figure 6 6 6 axis adjustable rail milling machine 6 14 Soft Machines Defining NC Coordinate Systems We have discussed how to define machine coordinates and reference frames by affixing empty shapes to the flange and machine respectively With this approach we are moving the machine s end effector to a location specified by the G code part program This kind of motion is known as inverse kinematics motion the motion of each axis to effect the end effector move is computed by inverse kinematics transformations Inverse kinematics provides a convenient means of simulating the tool path without having to consider the machine configurations It is applicable when a machine tool has closed form inverse kinematics that is an exact mathematical solution exists for the joint axis motions to execute an end effector move Typical cases where inverse kinematics apply are 3 and 4 axis machining centers and 2 axis lathes or turning machines The 6 axis adjustable rail milling machine shown in Figure 6 6 however contains redundant axes where no exact mathematical solution exists for any inverse kinematics move there are infinite solutions to position the adjustable rail and the spindle head to achieve the same end effector location To simulate machine tools with redundant geometry Soft Machines converts a G code move command into a joint vector and then m
11. sarray_of lt dtype gt closure lt return type gt lt input type gt lt input type gt tclosure lt return type gt lt input type gt lt input type gt lt polymorphic type gt function lt return type gt lt input type gt lt input type gt procedure lt input type gt lt input type gt task lt return type gt lt input type gt lt input type gt lt input type gt lt dtype gt lt return type gt lt dtype gt Object Oriented 7 to E E nS Do e mS a Notice that ntype appears to be a member of itself However it is really the syntactic expression ntype that is a member of the data type ntype so Russell s paradox is avoided Developer s Guide 2 9 3 97 Object Oriented Programming in SIL The following is a partial list of the primitive operations on ntype The names of the functions are self documenting function is_primitive n ntype boolean function is_reptyp n ntype boolean function is_array n ntype boolean function is_list n ntype boolean function rep_of n ntype ntype assumes n is represented type function list_subtype x ntype ntype function subtype x ntype ntype function subtypes x ntype list_of_ntype function mk_list_type x ntype ntype function mk_array_type x ntype ntype function is_function n ntype boolean Assume X result type y input types function mk_function_type x
12. SPTHCK d SPX 1 e SPY 1 f SPX 2 g SPY 2 h SPX a i SPY a j The profile sweep statement specifies the total number of points required to create the profile of the stock polygon The coordinates for the origin of the stock polygon SPCX SPCY SPCZ the thickness of the stock SPTHCK and the XY coordinates of each point in the profile SPX n and SPY n must all be specified NCV closes the profile by connecting the last defined pair of coordinates with the first defined pair of coordinates To create profile sweeps in arbitrary directions give the PROFILE_TYPE as VECTOR and omit the SPCX SPCY SPCZ and SPTHCK items and specify the start and end points using STPX STPY STPZ ENPX ENPY and ENPZ Fixture Definition One kind of fixture can be defined box Fixture Box Syntax Soft Machines Converting a CL File cltoncv BOX_TYPE FBOX XC a YC b ZC c LENGTHX d WIDTHY e HEIGHTZ f This box statement specifies the coordinates for the center of the fixture box XC YC ZC and the overall length width and height of the fixture box LENGTHX WIDTHY HEIGHTZ Syntax FCX 1 a FCY 1 b FCZ 1 c FLX 1 d FWY 1 e FHZ 1 f FCX n u FCY n v FCZ n w FLX n x FWY n y FHZ n Z The fixture box definition specifies the coordinates for each fixture box The coordinates for the center FCX n FCY n FCZ n and the length width and height FL
13. Sample Control File A control file tutorc1 is supplied with the system and is the file used with the first section of the First Cut tutorial see Program Components on page 3 2 You can inspect this file as an example using any suitable text editor Developer s Guide 10 117 3 97 Using First Cut 10 118 A further example of a control file given under The Control File Option on page 6 3 Sample Stock Definition in NCV File The following example uses the SPROF and SPPROF major words to define a stock model for the simulation The stock model is in fact that which is used in the first part of the First Cut Tutorial defined in the tutorcl nev file that you have in your system As noted earlier in this chapter SPROF defines the start point and thickness for the profile sweep and SPPROF defines the profile sweep points oo0oo0oo0oo00000000000 SLA File Format NCV accepts ASCII and binary SLA files The ASCII format is as follows SPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF SPPROF 0 16 000 1 4 4 13 13 I 10 000 500 500 12 16 000 000 000 000 000 900 900 500 000 000 000 ee G S WoAONTATUNWWREWHU BOO 000 000 500 000 500 500 000 000 500 000 575 950 500 800 000 The first line of the file looks like this solid name where the name is optional
14. The DWELL option is used to cause a programmed wait when the machine reaches the specified depth You can request a dwell for a number of seconds or a number of spindle revolutions This option can be coded on the DRILL FACE BORE REAM and CSINK cycles L INVERS NCV accepts the INVERS option but ignores it L ORIENT angle NCV accepts the ORIENT option but ignores it Developer s Guide 10 99 3 97 Using First Cut L DECR value The DECR option is used to reduce the last peck amount in DEEP and BRKCHP cycles by a constant amount These cycle types are used to drill holes where chip clearance or breakage is required Normally the last peck distance specified in a DEEP or BRKCHP cycle will be repeated over and over until the full hole depth has been reached Coding the DECR option will cause the final peck distance to be reduced by a specified amount each peck The value specifies the amount to reduce the final peck distance at each peck A built in minimum peck distance will prevent the DECR option from reducing the final peck distance to zero L TIMES count The TIMES option is only allowed with the BRKCHP cycle and is used to periodically cause a full retract of the tool tip to the clearance plane The BRKCHP cycle is used to drill deep holes and performs a slight jog or delay at regular intervals to stop long chips from forming Every count pecks the tool tip will be fully retracted to the clearance pla
15. You will see one hole colored red on one side and blue on the other This shows that the hole is out of position red shows the area into which the hole has moved and blue shows where the correct limit of the hole area is 10 164 Soft Machines First Cut Tutorial You can if you wish go to the View menu and FIlip the part to see the opposite side although one of the virtues of the translucent image is that you can see all errors from any view hn 6 a D ic D D Figure 10 96 Flipping the part This completes the tutorial for your introduction to First Cut This introduction will have provided you with sufficient experience of the product and its interfaces to be able to go through the User s Manual and look at the other capabilities of the product Other Production Facilities It is worth noting some of the other production facilities that you may wish to use gt Reading and writing intermediate results as Work in Progress WIP files Developer s Guide 10 165 3 97 Using First Cut gt Reading several files to be run unattended sequentially in batch mode gt Creating stock and fixtures to be used during the simulation gt Defining dimensions for a default cutter gt Subsetting the range of the simulation to a section of the part or of the input NC file Details of how to do the above are given in First Cut Functions on page 8 Saving an Image of the Session W
16. Clicking the left mouse button on the stock gives you the above data Note that you will get only the volume in the view and so for example if you were zoomed in and some part of the stock was not in sight then you would not get an accurate reading Repaint Now select the Colors button again at the top of the Geometry Window and from the Colors menu select Repaint You will see that this repaints the image it paints all cuts in the current color and changes this cut color each time you repaint Sectioning the Part Select the Modes button from the top of your Geometry Window which gives this menu Modes Tear off _1 Enhance Section Alt S 1 Compare Rotate Alt R Translucent Ctrl T Reset gt Figure 10 82 The Modes menu Next select Section which displays the Section panel Point on plane X 0 312395 Y 1 81092 Z 0 0488744 Normal vector Ifo JIA Kfo Section Figure 10 83 The Section panel 10 152 Soft Machines First Cut Tutorial You can identify the section plane by typing in the coordinates of a point on the plane and the plane vector you can also identify the coordinates by clicking at the desired point on the model Reset on the Modes menu restores the image of the complete part Rotating the View of the Part There are two shaded rotation facilities in First Cut which can be used during and after the simulation which allow you to swivel the
17. Conversion Program N NCV File Message file NC Verification Program Output Recording Saved Messages of the Screen File Simulation Images Figure 10 3 First Cut machining process File conversion must be completed before you can begin a NOTE simulation session 10 6 Soft Machines Operation and User Interface User Interface General Features During a simulation information about the cutter parameters programmed feedrate and units spindle speed and direction and coolant flow is displayed You can also during simulation determine which cutters made specific cuts by interactively selecting the display color of the affected stock material Another color option will change the cut color automatically at each cutter change Processing can be interrupted at any time and the view modified to gt Inspect an apparent error gt Display the CL ID and GOTO statement for a motion that cut a particular point on the part model gt Measure any particular point or stock or part thickness gt Save an enhanced image of the screen 5 5 oO D ic D D 5 gt Change the simulation mode gt Read or write a work in process file gt Runa simulation on a subset of the input file gt Rotate the part vertically or horizontally or zoom in on the view for inspection of particular areas gt Section cut the model gt Start or stop recording the simulation gt See the machining time for the part up
18. Displays the axis vector of the cutter Soft Machines First Cut Functions Metal Removal Window Functions The Metal Removal Window provides all the basic set up functions top level controls for running the simulation and message and reporting facilities Figure 10 10 The Metal Removal Window File Menu The File pulldown menu provides the file reading and writing functions Selecting File from the Metal Removal Window displays the File menu Read NC file Read WIP file Write WIP file Write image file Use playback file Read batch file Exit Alt X Figure 10 11 The File pulldown menu Developer s Guide 10 15 3 97 Using First Cut The Read NC File Panel The Read NC File panel provides the capabilities for browsing filtering and selecting files for use in NCV Selecting Read NC file from the File pulldown menu displays the Read NC File panel Filter plus2 ncv demos ncv Directories NC Files IVEZ EMSA block ncy plus2 ncv demos clevis ncv gouge ncv test ncv tutorcl ncv vise ncv vise_f ncv J vise_z ncy A a p Selection plus2 ncv demos Figure 10 12 The Read NC File panel A To the center left of the window is the Directories box which displays the list of current directories The name of the directory in use is highlighted Above the Directories box is a Filter box This works using any combination you
19. H Optional total depth specification E lt steps amp feedrates gt which can be one or more series of depth values and feedrate specifications 5 5 oO D ic D D 5 Standard clearance with option information The total depth specification depth INCR is optional It affects how the lt steps amp feedrates gt information is interpreted If the total depth is omitted then the subsequent step data specifies the depth of each step below the control point If the total depth is specified then the subsequent step data specifies the incremental steps of the cycle The total depth must be coded immediately following the BRKCHP keyword and it must be followed by the INCR keyword When a depth cycle is coded NCV will ensure that the cycle goes to the specified depth regardless of the total depth calculated by adding the incremental stepping information The lt steps amp feedrates gt parameters specify the depth of each cut and the feedrate to be used They are coded as follows IPM IPR step step MMPM ji feedrate MMPR Developer s Guide 10 109 3 97 Using First Cut 10 110 The tilde means that the indicated items can be repeated any number of times At least one step value must be coded with each increment series It is either an incremental or absolute distance to cut before jogging the tool to stop long chips from forming A feedrate type and value must be coded This feedrate s
20. Independent Metakinematics SILSPEC Process Rules Machine Dependant Optional NC Tooling Modeler Material Removal Optional SIMULATOR Animation Error File Movie Log Figure 6 2 Software modules for NC simulator 6 6 Soft Machines NC Machine Data Class NC Machine Data Class As discussed in previous chapters an NC machine is considered a subclass specialization of robot Using Closures and tclosures to Customize G Code Translators on page 2 47 explained how to attach a G code translator and two arrays of tclosures G and M tables to an NC machine by inserting the fields translator gtable and mtable to the type nc_machine The complete type declaration for nc_machine is new_class nc_machine NC machine subclass of robot superclass generalize robot x_axis string Names of objects denoting machine axes y_axis string Null strings for non existent axes z_axis string a_axis string b_axis string c_axis string x_link integer SILSPEC links corresponding to machine axes y_link integer z_link integer a_link integer b_link integer c_link integer changer_mount string Mount flange for tool changer changer_link integer tlib string Tool library associated with machine station_no integer Current tool station no ref string Object defining machine reference frame base_frame frame Base reference frame during initia
21. NC Tasks 8 8 Example 8 2 Suppose we want to attach the default tables default_gtable and default_mtable to the nc_machine vmc Create two arrays vmc_gtable and vmc_mtable vmc_gtable array_create g_function 400 vmc_mtable array_create gcode_closure 400 ok1 copy_gtable default_gtable vmc_gtable ok2 copy_mtable default_mtable vmc_mtable Attach tables to nc_machine object if ok1 then vmc gtable vmc_gtable if ok2 then vmc mtable vmc_mtable Machine Dependent Tasks Machine dependent tasks are those unique to a specific machine and or a machine controller These can be related to the machine configurations or tooling data Custom G and M codes are used to control optional peripherals and to support non standard subroutines and canned cycles Tool Changers The most common machine dependent tasks are those relating to tool changers and external tooling databases We have already seen in Chapter 2 Object Oriented Programming in SIL about how the same M code M6 tool change executes completely different tasks because of variations in tool changing mechanisms Chapter 7 Modeling NC Tooling illustrates the differences in tool changers between turning machines turrets and machining centers chain type tool magazines For a machining center a typical tool change sequence usually consists of the following steps 1 Move machine axes to tool change position
22. The clearance height defaults to zero The NC programmer must drill a 5 inch deep hole A stepping distance of 0 5 inches is required until the cutter reaches a depth of 3 inches thereafter the stepping distance should be reduced by 0 05 inches each peck The initial feedrate is 10 inches per minute It should decrease to 8 after a depth of 2 5 inches is reached Example 3 CYCLE DEEP 1 2 IPR 02 2 9 3 7 4 4 IPM 4 5 0 IPM 1 This example shows a deep hole cycle that does not use the depth specification Again the default clearance is used The NC programmer must drill a 4 5 inch deep hole The first 2 inches can be handled in steps of 1 inch at 0 02 inches per spindle revolution The step will decrease by 0 1 thereafter at a feedrate of 4 inches per minute The final breakthrough of 0 1 inches is done at 1 IPM by protruding the drill point 0 5 inches below the bottom surface Soft Machines NCV Input Data Formats BRKC HP Cycle The BRKCHP cycle performs a sequence of operations equivalent to the G83 fixed cycle in ISO 1056 The DEEP and BRKCHP cycles are similar The difference is that with BRKCHP the tool does not fully retract at each step The basic syntax is as follows CYCLE BRKCHP depth INCR lt steps amp feedrates gt clear clear2 RAPTO start DECR value TIMES value seconds DWELL REV revolutions The BRKCHP cycle syntax contains three parts
23. The method fields are slots which hold operators on astack just as ordinary fields of a class hold data The usage method lt return type gt lt input_type gt lt input_type gt specifies a method which can be applied to inputs of types astack lt input_type gt lt input_type gt and will return the given return type So for example push takes an astack and an ob and returns an ob The first argument to any method is the class for which the method is defined so it need not be specified explicitly It is for this reason that we write method ob ob rather than the redundant method ob astack ob Now the method slots in a class definition are filled by ordinary SIL functions which take a view of the astack as first argument For example the operator installed in the push slot will be a procedure which takes a view of an astack as its first argument and an ob as its second The intent of this should become clear as we proceed with this example Example 2 11 continued from above Now we define the concrete class Istack type Istack class superclass astack goods list of ob end Soft Machines Classes and Inheritance Object Oriented 72 sS D S E E d 2 ou Installation of Methods Installation of methods is done using the following primitives If ais a particular astack which is also an Istack we can set the method push in a to be push on the Istack The
24. The next time the module is remade the code file in question will be re compiled Finally to rebuild a product use rbuild lt product gt Soft Machines Creating New Versions Again to create a completely new product use newproduct lt product gt After these products and files have been created and the relevant compiles and remakes have been done the rbuild command will complete the process After rbuild is finished the start command starts up the product The rbuild command may be used repeatedly on the same product as modifications are made and compiled into that product Creating New Versions This section describes the process of adding new versions of a module to the original module For example suppose we wish to add enhancements to the ted module without disturbing the working version ted1 A new version of module ted may be created using o eae to 0 a ow newversion ted ted2 This command will set up the directory cim builds ted2 with contents that are initially identical to those of ted1 Suppose next that we create a new version of our file1 sil SIL file and call it file1_2 sil This new version should be placed in cim sil ted the same directory in which ile1 sil resides To compile it use SIL gt compile ted ted2 file1_2 To include file1_2 sil in ted2 you can simply edit cim builds ted2 sil_files to mention file1_2 instead of filel To include ted2 instead of
25. The various forms of this Major Word are given in CYCLE Words on page 10 97 Developer s Guide 10 81 3 97 Using First Cut 10 82 CYL Format pam 1 pam 2 pam 3 5 pam 6 8 pam 9 ENVECT Format pam 1 pam 2 pam 3 5 FBOX Format pam 1 pam 2 pam 3 5 pam 6 8 integer char float float float float float float float Defines a stock cylinder using two axis points and radius CL record number ignored CYL Axis point no 1 X Y and Z coordinates Axis point no 2 X Y and Z coordinates Radius integer char float float float Alternative header definition for profile sweep See STVECT on page 10 94 and SPPROFP on page 10 94 CL record number ignored ENVECT End point of sweep X Y Z integer char float float float float float float Defines a fixture box using center point and dimensions CL record number ignored FBOX Box center X Y and Z coordinates Box dimensions LENGTHX WIDTHY HEIGHTZ Soft Machines NCV Input Data Formats FC BOX Format integer char float float float float float float Use Defines a fixture box using two corners pam 1 CL record number ignored pam 2 FCBOX pam 3 5 Box corner no 1 X Y and Z coordinates pam 6 8 Box corner no 2 X Y and Z coordinates FCYL Format integer char float float float float float float float 3 Use Defines a fixture cylinder using two axis points and k radius 2 pam 1 CL record
26. and if so then it will be dismissed Soft Machines First Cut Functions Dynamic Menu Selecting Dynamic from your Geometry Window displays this menu of the dynamic viewing modes Move light Zoom 6 a r to N gt Figure 10 37 The Dynamic menu The first four functions are activated when you are in Setup mode they allow you to position and size the part for the simulation The other three functions are activated when you are in Simulation mode they control the dynamic functions of rotation zooming and positioning of the light source All the viewing modes are controlled by cursor location when the middle mouse button is pressed Dynamic viewing in the window continues until the mouse button is released Note that when you are in Simulation mode you can also access the Modes menu to get at a rotation function described under The Rotate Selection on page 51 Dynamic Rotation and Zooming can be carried out as described under Mouse buttons on page 2 7 Developer s Guide 10 43 3 97 Using First Cut Setup Mode Selections The Rotate XY Selection Rotates the view around the origin When the cursor is dragged to the right across the window the Y axis rotates in the positive counter clockwise direction When the cursor is dragged to the left across the window the Y axis rotates in the negative direction Another way to visualize i
27. arg2 are the arguments to op APPLY type FUNCTION LISPOB LISPOB LISPOB from file lt NULL S_T_R gt protection 0 APPLY type FUNCTION LISPOB LISPOB LIST LISPOB from file lt NULL S_T_R gt protection 0 type FUNCTION AN_IFORM ID LIST IFORM from file lt NULL S_T_R gt protection 0 APPLY type FUNCTION LISPOB ID LIST LISPOB from file lt NULL S_T_R gt protection 0 type FUNCTION LISPOB SCONST LIST LISPOB from file cim builds nevent51 s e5_4ap sil protection 0 type FUNCTION UNIVERSAL ID LIST UNIVERSAL from file cim builds danal194 s a_6univ2 sil protection 0 type FUNCTION UNIVERSAL APPLICATION LISPOB from file cim builds danal194 s a2_2app sil protection 0 Developer s Guide 2 15 3 97 Object Oriented Programming in SIL 2 16 The apply operator provides what is called late binding Late binding means that the decision as to which variant of a function is designated by a function name is made at the latest possible moment when the function application is actually being executed Ordinary function application in SIL is of the early binding style the selection of variant is made at the earliest possible time when the code is read in We are now ready to write dispatch procedure dispatch part universal begin apply assemble part end A call to dispatch would look like dispatch part as_type universal The applyn operator works in a similar fashion but
28. center Figure 7 1 Simplified class hierarchy of NC related objects In the NC simulator the tooling assembly can be classified into three components the cutting tool tool holder and tool changer 7 2 Soft Machines The Tooling Assembly Tool Changer Turret D o a 6 z dD 3 e Tool Holder Adaptor Ta Cutting Tool Figure 7 2 NC tooling tools for turning i amp Cutting Tools A amp a NE Tool Holders Adaptors Figure 7 3 NC tooling tools for a machining center Developer s Guide 7 3 3 97 Modeling NC Tooling Cutting Tool A cutting tool is the cutter that performs the actual machining operations such as drills end mills cutter inserts etc Tool Holder A tool holder is used as a tool holding device for cutting tools such as drill chucks collets V flange adapters etc In a machining center tool holder cutting tool assemblies are usually mounted on a tool magazine when not performing machining operations An automatic tool changer will mount the tool holder to the machine spindle when a tool change command is executed Tool Changer A tool changer is a device for changing cutters between machining operations In a turning machine a tool changer usually contains a turret mounting multiple cutter assemblies Figure 7 4 In a machining center the tool changer usually combines a tool magazine which stores the tool
29. function is_undefined x sconst boolean This function applies the given sconst to the given arguments apply op sconst a list of lispob Polymorphism A polymorphic typing system is one which permits one name to name several objects at the same time as long as these objects have different types For example the function sin accepts both rangle and real type inputs In SIL a name can have at most one data variant but any number of function variants Each function variant however must have distinct input types for instance moveto in SIL has over 20 variants Consequently in Example 2 7 these two variants of same_list can coexist at the same time Example 2 7 function same_list I1 12 list of integer boolean function same _list I1 12 list of ob boolean Developer s Guide 2 23 3 97 Object Oriented Programming in SIL Classes and Inheritance 2 24 This section contains these topics gt Classes gt Inheritance gt Specialization and Generalization how objects are viewed relative to each other and how to manipulate the views gt Abstract Classes One of the main characteristics of object oriented programming is the concept of inheritance Two objects A and B belonging to different types classes can be related in such a way that all properties of A are also properties of B In this case B inherits A s properties In SIL terminology B is a specialization of A
30. more than one principle axis rotation Yaw pitc h roll 90 90 90 Z REF Y A Y REF X X Y Z Euler 90 90 90 X Z REF Y Z Ns X REF Y REF n Equivalent angle axis 90 90 90 8 Z REF 2E y Oa X X REF Z Y REF Figure 4 12 Orientations with multiple axis rotations Developer s Guide 4 15 3 97 Geometry in Soft Machines Poses 4 16 Every shape including World has an associated local reference frame which is called its pose The pose of the World is the master reference system and every other shape in the World tree has a pose which is specified relative to the World pose When you select a reference frame using the menus the pose of some shape is always selected The default reference frame is the pose of the World and may sometimes be called the Universe coordinate system In Soft Machines a pose is described using six values that combine its position and orientation x y z yaw pitch roll A Z TE Pose x Eor Figure 4 13 Pose Describing position and orientation is simply a matter of combining a position and orientation using the geometric type pose The general form of the command is mk_pose lt position gt lt orientation gt where lt position gt and lt orientation gt may be any of the types described above Either or both position and orientation may be specified If you omit position it is assumed to be 0 0 0 Likewise if you omit orientation it
31. on page 6 14 showed how to execute a 6 axis move with the expression moveto mc ncv_axes_to_jv mc x y Z a b c mc ref_jv i where mc is a machining_center a subclass of nc_machine and mc ref_jv i is machine reference coordinates defined in JV A tool offset vector can be converted into a joint vector in the same manner as an NC move statement is converted into a joint vector The expression becomes offset_jv mc ref_jv i tool_offsets moveto mc ncv_axes_to_jv mc x y Z a b c offset_jv Example 7 8 Suppose the SIL procedure get_tlo lt nc_machine gt lt gcode_info gt returns the tool length offset from tool database we define a function set_tlo as follows function set_tlo m nc_machine g gcode_info jv var axes darray of real j integer begin axes array_create real 6 for j 0 to 6 do axesjj 0 Offset Z axis axes abs m z_link get_tlo m g sgn m z_link set_tlo mk_jv axes 1 axes 2 axes 3 axes 4 axes 5 axes 6 end 7 28 Soft Machines Assigning Additional Properties Assigning Additional Properties Da fe e iS z Da ao fe In addition to geometric properties associated with NC tooling additional properties can be assigned either by built in simulation rules or by manipulation of the tooling objects themselves If necessary we can construct specializations subclasses of NC tooling to represent different type
32. since B may have additional specialized properties apart from those inherited from A or Ais a generalization of B Applying this concept to machine tools we can say that a machining center is a specialization of an NC machine which in turn is a specialization of a kinematics device The advantage of inheritance is that programmers do not have to build an object from the ground up By declaring object B to be a specialization of A the properties of A automatically become properties of B This is especially useful if A is a system defined object with many useful but low level properties For example B might be a cutting tool with properties such as location of cutting tip cutting edge etc whereas A might be a CAD model with geometric and graphical properties such as boundary representation surface normals color etc If you are creating a simulation of an NC machining process you are probably familiar with the cutting properties of a cutting tool but may not be familiar with the lower level properties of a CAD model even though these properties are necessary for displaying and manipulating the cutting tool in a simulation Because Soft Machines provides a type class shape which represents a simulated object in three dimensional space the class cutting_tool cutting tool can simply be described as a specialization of shape Soft Machines Classes and Inheritance Classes The definition of a class in SIL is very similar
33. whether or not a holder name is specified in this case the default value for NSIDES is used The holder name refers to the holders in nevholder lib just as the PPRINT HOLDER statement does Format of ncvholder lib File The format of the ncvholder 1ib file is as follows The file consists of a series of cutter descriptions each of which looks like this name FLUTE length x y x y mM The name lines are left justified the coordinate lines have leading white space blanks and or tabs Blank lines and comment lines are ignored comment lines are those beginning with an exclamation mark character mM Names cannot contain blanks tabs slashes or commas case is significant in names The word FLUTE can be upper or lower case Soft Machines NCV Input Data Formats M The coordinates describe the profile of the holder which is a series of lines revolved about the Y axis The first and last X coordinates must be zero i e the profile can not have a hole up the middle like a doughnut E Moreover the Y coordinates must be non decreasing i e it is not possible to model a hole in the end for inserting the cutter However the holder and the cutter can interpenetrate so this is not a problem The reason for these restrictions by the way is to allow the holder to be decomposed into convex solids which is required by NCV s subtraction algorithm Tool holder profiles can contain arc lines The same rules govern th
34. will cause Soft Machines to switch to Text Mode automatically and display the ERROR gt prompt This flag is useful when tracking bugs The default setting of the flag is false When it is set to false errors are reported but panels stay up and no error prompt results Calling C Code from SIL This section describes how C code can be called from SIL This section includes the following topics gt Sample c and h Files gt Passing Data Types to C The procedure for including hand written C code in a REMINDER module was discussed in Loading SIL Code on page 3 11 The following command imports the given C function and assigns it the given SIL type c_import lt function name gt lt type gt For example c_import foo map integer integer will import a C function foo on integers After that process is complete foo can be treated just like any other SIL function on integers it can be called freely from SIL code as in SIL gt fori 1 to 10 do writeln foo of i foo i Developer s Guide 3 29 3 97 A o 23 to 0 a ow Working with SILCode 3 30 The only restriction is that the SIL file in which the c_import occurs must be compiled not interpreted Furthermore patching over a compiled c_import will prevent it from functioning thereafter Importing a C function into SIL is quite simple For integers and reals only a c_import command is needed One restriction exists
35. 0 active_tlib is a global variable of type tool_lib active_tlib aux kt_moduline_tool_data as_type universal Data structure for VMC Vertical Machining Center type vmc_tdata Irecord stn_no integer tool_id integer description string dia real tool_offsets point end mc_tool_data array mk_vmc_tdata 1 1 1 CENTER DRILL 0 125 mk_point 0 0 8 mk_vmc_tdata 2 2 0 0635 DRILL 0 0635 mk_point 0 0 8 mk_vmc_tdata 3 3 0 0890 DRILL 0 0890 mk_point 0 0 8 mk_vmc_tdata 4 4 0 120 DRILL 0 120 mk_point 0 0 8 mk_vmc_tdata 5 5 0 128 DRILL 0 128 mk_point 0 0 8 mk_vmc_tdata 6 6 0 147 DRILL 0 147 mk_point 0 0 8 mk_vmc_tdata 7 7 0 166 DRILL 0 166 mk_point 0 0 8 mk_vmc_tdata 8 8 0 201 DRILL 0 201 mk_point 0 0 8 mk_vmc_tdata 9 9 0 391 DRILL 0 391 mk_point 0 0 8 mk_vmc_tdata 10 10 0 641 DRILL 0 641 mk_point 0 0 8 mk_vmc_tdata 11 11 0 375 END MILL 0 375 mk_point 0 0 7 313 vmk_vmc_tdata 12 12 0 1875 END MILL 0 1875 mk_point 0 0 8 continued on next page Developer s Guide 7 23 3 97 Modeling NC Tooling 7 24 Example 7 5 continued mk_vmc_tdata 13 13 COUNTER SINK 0 5 mk_point 0 0 8 mk_vmc_tdata 14 14 0 125 END MILL 0 125 mk_point 0 0 8 mk_vmc_tdata 15 15 0 250 END MILL 0 250 mk_point 0 0 8
36. 0 110 0 3800 0 120 0 0 0 00 10 00 The tool is redefined using the standard APT seven parameters GOTO 4 1958 0 300 2 9141 0 000 1 0 0 00 The tool is positioned prior to the next cut The preceding tool definition causes this statement to be treated like a FROM statement GOTO 4 2958 0 310 2 9141 0 000 1 0 0 00 The tool is swept to the specified position Soft Machines NCV Input Data Formats 79 CUTTER 1 0000 0 120 0 3900 0 120 0 0 0 00 2 00 This statement is ignored Because it is not preceded by a physical tool change statement NCV assumes that it reflects a false cutter definition 80 GOTO 4 3958 0 320 2 9141 0 000 1 0 0 00 The tool is swept to the specified position 83 GOTO 4 4958 0 330 2 9141 0 000 1 0 0 00 The tool is swept to the specified position 96 GOTO 4 5958 0 340 2 9141 0 000 1 0 0 00 The tool is swept to the specified position 97 LOADTL NCV prepares to accept the next CUTTER statement 99 CUTTER 1 2000 0 120 0 3800 0 120 0 0 0 00 2 00 oO o a a re to a gt The tool is defined using the standard APT seven parameters 103 GOTO 4 6945 0 350 2 8415 0 000 1 0 0 00 The tool is positioned prior to the next cut The preceding tool definition causes this statement to be treated like a FROM statement 104 GOTO 5 0000 0 350 2 8415 0 000 1 0 0 00 The tool is swept to the specified position 108 COOLNT OFF The coolant flow is displayed as off 1099 FINI Simulation stops
37. 10 15 10 16 10 17 10 17 10 18 10 19 10 19 10 20 10 21 10 21 10 21 10 22 10 23 10 23 10 24 10 25 vii Table of Contents The Read SLA file Selection Creating a Fixture Changing the Type of a Model Deleting an Object The Translate Selection The Rotate Selection Scaling a Model Control Menu Defining the Default Cutter Defining the Default Tool Axis The Cutter limits Selection Setting the Maximum Cutting Feedrate The Subset range Selection The Subset box Selection The Use entire NC program Selection The Multi axis Switch Auto Menu The Change color at cutter change Switch The and repaint Switch The Solid cutter Switch The Continuous display of cutter Switch The Write image at cutter change Switch The Write image at error Switch The Enhance when writing image Switch The Record Switch The Ignore holder and shaft Switch Windows Menu Help Menu Geometry Window Functions View Menu Dynamic Menu viii Setup Mode Selections The Rotate XY Selection The Pan Selection The Zoom Selection The Rotate Z Selection Simulation Mode Selections 10 27 10 28 10 28 10 28 10 29 10 29 10 30 10 31 10 32 10 32 10 33 10 34 10 35 10 35 10 36 10 36 10 36 10 37 10 37 10 38 10 38 10 38 10 38 10 39 10 39 10 39 10 40 10 40 10 41 10 42 10 43 10 44 10 44 10 44 10 44 10 44 10 45 Soft Machines Table of Contents The Rotate Selection The Move light Selection The Zo
38. 2 1 2 2 2 2 2 4 2 4 2 4 2 5 2 5 2 5 2 6 Table of Contents Records Irecords Advanced Data Types ntype Supertypes lispobs universals Applying Procedures Applications C Data Types C Records and C Arrays C Strings C Constants at Build Time Casting SIL Constants Polymorphism Classes and Inheritance Classes Inheritance Specialization and Generalization The specialize_to Operator Views Abstract Classes Installation of Methods Additional Methods Primitives The mnode Class Concurrency Tasks Delay Start and Run Tickers Semaphores Pipes Processes Closures and tclosures Closures tclosures 2 7 2 7 2 8 2 9 2 11 2 11 2 13 2 15 2 16 2 17 2 17 2 19 2 21 2 21 2 22 2 23 2 24 2 25 2 26 2 27 2 27 2 28 2 29 2 31 2 33 2 33 2 34 2 35 2 35 2 36 2 37 2 38 2 40 2 41 2 42 2 43 2 46 Soft Machines Table of Contents Using Closures and tclosures to Customize G Code Translators 2 47 Symbols 2 49 Chapter 3 Working with SIL Code Protection 3 1 Input Output 3 2 Reading from the Keyboard 3 2 Writing to the Screen 3 5 Reading and Writing to a File 3 5 EOF 3 7 Code Organization 3 8 The Cim Tree Structure 3 9 Loading SIL Code 3 11 Creating a New Product 3 12 Compiling SIL Code 3 14 Creating New Versions 3 17 Including Modules and Products in the Product Administration Panel 3 18 Adding New Modules 3 18 Adding New Products 3 18 Dependency Management 3 19 Modules 3 19 umodules 3 20 if
39. 3 5 10 I VO 3 2 INDEX 6 ASCII files 3 5 EOF 3 7 files reading amp writing to 3 5 read x 3 2 read_char command 3 3 read_line command 3 3 read_token command 3 3 readin command 3 3 id 2 23 IGES converting a model to a file 5 18 converting with text 5 17 Ignore holder and shaft 10 39 imoveto command 5 16 6 12 import_tool_data procedure 7 25 importing C functions 3 30 in_frame operator 4 18 4 20 Index 10 41 infix operators 1 8 Information display 10 13 CL ID 10 14 Coolnt 10 14 D 10 14 Feed 10 13 H 10 14 I J K 10 14 R 10 14 X Y Z 10 14 inheritance 2 24 2 26 init sil file 3 12 initialization file 3 11 3 12 Input name conventions 10 17 input output see I O input_types function 2 10 instantaneous block 2 34 instantaneous commands see tasks integer constructor 2 2 data type 2 2 division 2 4 string converting to 2 5 integer type 2 4 2 8 interpolation mode 8 3 Soft Machines interpreted code 3 22 interpreter SIL 1 5 2 6 3 2 inverse kinematics 6 15 7 26 invert operator 5 14 is_array function 2 10 is_closure function 2 10 is fail function 2 16 is function function 2 10 is_list function 2 10 is_primitive function 2 10 is_reptyp function 2 10 is_task function 2 10 is_tclosure function 2 10 iteration statement 1 9 1 10 J joint vector 6 8 6 18 7 28 8 15 K keyboard reading from 3 2 kinematics 6 4 6 8 forward 6 15 8 15 inverse 6 15 7 26 L late bind
40. 3 97 Working with SILCode cim mccode lt modules gt All C code resides in this directory including both C code generated from SIL and C code written by hand cim mhfiles lt modules gt The header h files for C code generated from SIL are stored in this directory cim actions lt modules gt This directory contains auxiliary information needed for SIL code It is generated automatically by the translator and need not concern the user cim builds lt versions gt There is one subdirectory of cim builds for each version of a module Each version directory under cim builds has the following files sil_files A file listing the names of SIL files in the module c_files A file listing the names of hand written C code s A link to cim sil lt my module gt mc A link to cim mccode lt my module gt mh A link to cim mhfiles lt my module gt a A link to cim actions lt my module gt A few other directories may be present in any cim tree but they are immaterial to the users of this manual 3 10 Soft Machines Loading SIL Code 33 o O O on Loading SIL Code SIL files should be named with a sil extension To load a file containing SIL code use this syntax SIL gt _ sil_load lt pathnames For instance SIL gt _ sil_load mysil application1 sil A shorter form is SIL gt _ Id lt pathname without extension gt For example SIL gt _ Id mysil application1
41. 5 4 carat 2 18 case construct 1 9 1 10 casting 2 21 2 22 2 28 CATIA 10 124 CBOX 10 80 Center 10 46 chain operator 5 13 Change color at cutter change 10 37 changer_link field 6 19 changer_mount field 6 19 Changing the View 10 140 Chip 10 148 CIM environment variable 3 8 cim tree 3 8 Cimplex NCV Main Window 10 15 Information display 10 13 circle adding 5 2 5 10 circular interpolation 8 4 CL File Conversion 10 64 clamps 8 7 class 2 25 INDEX 2 abstract see abstract class facility cutting_tool 7 7 mnode class 2 33 nc_machine see nc_machine class tool_changer 7 14 tool_holder 7 11 tool_lib 7 17 7 22 classes function 2 28 CL ID 10 58 10 151 clock variable 2 34 closure 8 22 closures 2 43 6 21 7 24 7 29 8 24 9 10 is_closure function 2 10 cltoncv 10 67 code modules 3 8 organization 3 8 collision detection 7 29 Colors 10 47 Repaint 10 152 comment line 10 79 comodules file 3 19 3 21 3 22 syntax 3 19 Compare 10 51 compile command 3 15 compile_area command 3 15 compiling SIL code see SIL code compiling compound statements 1 9 concurrency 1 1 2 34 cone operator 5 14 cone adding 5 9 5 14 const declaration 4 3 constants 1 8 2 22 variants 2 23 constructed types 1 6 2 2 Continuous display of cutter 10 38 Control Menu 10 31 Cutter limits 10 33 Multi axis 10 36 Subset box 10 35 Subset range 10 35 Use entire NC program 10 36 Soft Machines coolant 8 7 COOLNT 10 81 Coolnt 10 14 Coons surf
42. Center Selecting Center moves the origin of the model to the center of the window without changing its size Soft Machines First Cut Functions Colors Menu Selecting Colors from the Geometry Window displays this menu View Dynamic Fit Colors Display Modes Measure Yellow green Repaint hn 6 od D ic D D Figure 10 40 The Colors menu The color buttons are used to select the color of the cuts during simulation The active color button is toggled First Cut automatically cycles through all colors at each cutter change when the automatic option 4 Change cut color at cutter change is active for more on this option see The Change color at cutter change Switch on page 37 To change the current color simply select it The Repaint button is used to manually repaint the color of all cut stock to the current color To repaint cut stock automatically see The Change color at cutter change Switch on page 37 and The and repaint Switch on page 37 To change all the cuts to a new color 1 Toggle one of the color buttons 2 Select Repaint Developer s Guide 10 47 3 97 Using First Cut Display Menu Selecting Display from the Geometry Window displays this menu View Dynamic Fit Colors Display Modes Measure Display Tear off Show axes Show cutter _ Shadows E Ctrl S Figure 10 41 The Display menu The Show
43. G54 to G59 can be declared We handle this by creating 6 empty shapes and adopt them as subparts for the reference shape When a part program calls out for a difference part coordinates we change the ref field to the name of the new reference shape For an NC machine m with part coordinates defined by the subparts WORK_COORD_1 WORK_COORD_2 WORK_COORD_6 of the reference shape we change work coordinates by m ref concat name m MCS WORK_COORD_ int2sir i where i 1 2 3 6 6 12 Soft Machines Defining NC Coordinate Systems Base Coordinates Work Coordinates Y Pose of Machine Figure 6 5 Defining multiple work coordinates The field base_frame type frame contains the location of the machine reference coordinates power up reference Itis equivalent to the base machine coordinates G53 which are fixed as opposed to part coordinates which can be changed during the course of a part program base_frame contains the pose of the base coordinates in frame of the pose of the machine an 3 De 35 Sa of Developer s Guide 6 13 3 97 Modeling NC Machines The base base_jv type jv is the joint vector value when the machine is first initialized Normally base_jv contains the joint vector when the machine is at the home position or for machine m m base_jv home_of name m NC Coordinates in J oint Space Redundant Axes E S eA imi Ea i En
44. It runs a program called nevin gc This seeks for G code files which must end with the extension gc for NCV to recognize and interpret them properly Developer s Guide 3 97 10 121 Using First Cut 10 122 If you run NCV for G code files and get error messages to the effect that the file doesn t have any GOTO statements then the problem will be one of the following E NCV did not find the input file because it did not have the ge extension E NCV did not find the nevin ge file or the ge file or one of the special data files below because they were not in the current directory If you get an error message complaining about APT CUTTER statement which is generated by the input converter then this means that you will have defined incorrect cutters You can track which cutter statement is causing the problem by using the CL ID on the APT CUTTER statement which will be the line number of the original G code statement Machine controllers interpret I J and K codes either as incremental or absolute values based on the G90 and G91 codes You can control the interpretation as shown in the notes on the g data file below Special Data Files NCV uses special data files in addition to the input file when reading G codes The formats for these are given below The g cutters and g data files must be present If the files are not present then NCV will complain that the input file is empty g c utters This file
45. K components of subsequent GOTOs should be used to determine the tool axis or ignored IF MULTAX is ON and no I J K components are found an error will be displayed and written to the never out file CL record number MULTAX APT parameter ON or OFF integer char integer ko 5 S a ir D a Defines number of sides around cutter CL record number ignored NSIDES Number of sides to approximate cutter integer char char Specifies the part number This number displays at the top of the screen during simulation and is therefore visible in any slide files that are created CL record number PARTNO A string of characters and spaces which define the part number 10 87 Using First Cut PPRINT Format integer char any_sequence_of_characters Use Provides general notes and override existing cutter statements pam 1 CL record number parm 2 PPRINT parm 3 A comment string which NCV ignores unless it is one of the forms described below PPRINT BREAK Format integer char char Use The use of this statement halts the simulation at this point Selecting the Go button continues the simulation pam 1 CL record number parm 2 PPRINT pam 3 BREAK 10 88 Soft Machines NCV Input Data Formats PPRINTCOLOR Format integer char char integer Use Specifies the color to be used for the part cuts from this point on in the simulation pam 1 CL record number ignored parm 2 PPRI
46. Modeling Using SIL Commands The model Data Type Creating models using the menus and panels is usually the most efficient way to create models You can also however create models using the SIL language The first part of this chapter describes how to create models using SIL commands The last part of this chapter provides examples of models The model Data Type All Soft Machines models both rigid and structured are represented internally with the same data type model The model data type is a data structure with fields for the following 1 The name of the model This name is used during a simulation to refer to the model and its components Names are always given as strings N Its kind rigid or structured The model body The color of the body Pointers to the model s submodels if any up Ww Modeling Constructors Because Soft Machines models are represented by their boundaries which are in turn limited to vertices edges and facets you will need only a few basic constructors to build even the most complex models For convenience you may build more sophisticated constructors out of these basic ones Soft Machines provides some of these more sophisticated constructors you can create the others using the following examples as guides The World coordinate frame is the base coordinate system used by all the modeling constructors For this reason all geometric values specified in the constructors are absolute
47. SILSPEC Coordinates Just as we want to map the axes of an NC machine to the links of a SILSPEC the NC coordinates need to be mapped with respect to the coordinates of the SILSPEC s flange The flange is where an end effector tool is mounted onto a SILSPEC For an NC machine the flange is usually the spindle flange where a tool holder is mounted It is common in robotics to define the Z axis of the flange as pointing away from the machine In contrast the Z axis of an NC machine usually points away from the part This problem is solved by defining an empty shape an object that has a pose only called the move_handle By aligning the pose of the move_handle with the NC coordinates and affixing it to the flange of the SILSPEC the move_handle provides the coordinate reference with which the machine can move see Figure 6 4 The name of move_handle can then be inserted into the move_handle field of class nc_machine To move the machine VMC by x y z in the NC coordinate system use moveto vmc move_handle mk_point x y z in_frame pose vmc move_handle 6 10 Soft Machines Defining NC Coordinate Systems NC base reference pose vmc move_handle mk_crt_ypr 0 0 0 180 0 180 in_frame pose vmc_flange Figure 6 4 Defining NC coordinates Defining NC Reference Coordinates NC reference coordinates can be defined in a similar manner as the move_handle An empty shape ref can be constructed a
48. Section from your Modes menu which displays the Section dialog window lt Enhance Section Alt S Point on plane X 0 312395 Y 1 81092 Normal vector 0 J 1 Kjo FM Section Figure 10 43 The Section panel The section plane is created by clicking at the desired point on the model as was done in this illustration and by typing in the plane s normal vector You can also type in point coordinates 10 50 Soft Machines First Cut Functions Reset section and Reset all on the Modes menu restores the image of the complete model The Normal vector points in the direction of the material to be made invisible In the case illustrated everything with a Y coordinate less than 1 81092 will be made invisible You can cancel the dialog window without turning off sectioning by selecting the OK button The Compare Switch The Compare function is used to compare the as designed part with the as machined part The as designed model of the part must be read in from an SLA file before starting the simulation and may have to be translated rotated and scaled to match the coordinate system of the NC program To do the comparison switch on 1 Compare from the Modes menu in the Geometry Window oO a a re to a gt The part is redrawn in a translucen
49. Syntax 3 21 Support Only Builds Areas 3 21 Application Solutions Header Module 3 21 Patching in Interpreted Code 3 22 Debugging 3 23 Debugging in Menu Mode 3 29 Calling C Code from SIL 3 29 Sample c and h Files 3 30 Passing Data Types to C 3 34 Chapter 4 Geometry in Soft Machines Understanding Soft Machines Geometry 4 Geometric Terms 4 Shape 4 2 Frame 4 2 Developer s Guide iii 3 97 Table of Contents Geometric Units Position Cartesian Description Cylindrical Description Spherical Description Orientation Yaw Pitch Roll Euler Angles Equivalent Angle Axis Poses Geometric Operators Chapter 5 Modeling Using SIL Commands The model Data Type Modeling Constructors Curves Conics Surfaces Cap Facet Plane Surface Grid Surface Surface of Revolution Tube as rvsurf Funnel as rvsurf Tabulated Cylinder Rational B Spline Surface Coons Surface Geometric Constructors Conic Constructors Bezier Curve Constructor Bezier Patch Constructor Conic Surface Constructors Evaluating Parametric Shapes Parametric Curves Parametric Surfaces Wireframe Models 4 3 4 4 4 5 4 6 4 7 4 8 4 10 4 12 4 13 4 16 4 17 5 1 5 1 5 2 5 3 5 4 5 4 5 4 5 5 5 5 5 6 5 6 5 7 5 7 5 7 5 8 5 9 5 9 5 10 5 11 5 11 5 11 5 11 5 12 5 13 Soft Machines Table of Contents Volume Models 5 13 Cylinder 5 13 Block 5 13 Pipe 5 13 Cone 5 14 Frustum 5 14 Model Operators 5 14 The invert Operator 5 14 The glue
50. TRUE if Y exists gcode_info got_y TRUE etc Table 9 1 gcode_info fields 9 4 Soft Machines Converting G Code into SIL Data Type FELD TYPE DESC RIPTION gots2 integer More bit fields denoting input status see gots input string Original G code statement stmt_name _ string Name of statement if N field is string stmt_no integer Statement number if N field is integer XC yC ZC real Fields for X Y Z I J K U V W ic jc ke 25 u v W 25 ann Se f e q 6 real Fields for F E Q R s 5o l t S p integer Fields for L T S P 2 8 fe multi_r array of integer Fields for R01 R02 R03 etc OG d integer D field colon integer Colon field at_sign multi_r_record For __R_R_ currently not used h integer H field Table 9 1 gcode _info fields continued G Code Reader A G code reader converts each input statement to gcode_info In essence the reader maps every field present in a G code statement to the corresponding field in gecode_info The fields gots and gots2 are also updated for each input field Developer s Guide 9 5 3 97 Constucting the G Code Translator Reading a G Code Statement To read a complete G code statement we parse all the relevant fields that may exist for a particular controller machine combination The global gcode_stmt can then be passed to the task scheduler for execution see Example 9 1 9 6 Soft Machines Converting G Code into SIL Data
51. Type Reading a G Code File In the simplest sense reading an entire part program G code file means reading and executing the program statements line by line until the end of the input file one pass approach shown in Example 9 3 Handling input files with more complicated syntax such as those required for multiple turrets synchronized cutting and programs containing subroutines require a multiple pass approach This will be explained in a later section Constructing the O fe o Z G d H o 3 fe S 0 Developer s Guide 9 7 3 97 Constucting the G Code Translator 9 8 Soft Machines Converting G Code into SIL Data Type eS 55 nn s o ae 0 o co oS Og Developer s Guide 3 97 Constucting the G Code Translator Executing G and M Codes Example 9 1 and Example 9 2 illustrate how part program statements are converted into gcode_info and passed to the task scheduler for execution In Soft Machines the NC task scheduler uses gcode_info to retrieve task closures from the G and M tables for execution In a one pass scheme the task scheduler works as follows see Example 9 3 E For every G code group retained G codes gcode_info gcodef i look up task closure from G table execute task closure E For every M code in input statement look up task closure from M table and execute task closure E Update machine status 9 10 Soft Machine
52. a Minimum Cutter Length Default Developer s Guide 3 97 Syntax MINIMUM_CUTTER_LENGTHEZ a The minimum cutter length and diameter buttons allow the user to specify a default value to override the programmed length and or diameter If a cutter with a length or diameter smaller than the minimum value is encountered during conversion the default value is substituted for all tool motion points that follow until the next cutter statement is encountered The minimum cutter length and diameter tests are applied to all valid cutter statements and PPRINT TRUE C statements encountered during the simulation 10 73 5 5 oO D ic D D 5 Using First Cut Processing Defaults Tool Axis Default Syntax TOOL_AXIS SPECIFIED TAl a TAJ b TAK c Defines the tool axis used during simulation when the axis is not explicitly specified in the input file e g in a three axis file or after a MULTAX OFF statement The values for I J and K are specified TAI TAJ TAK Feedrate RAPID Override Syntax MAX_FEED a This value specifies the maximum value which the FEDRAT statement considers a cutting feedrate If FEDRAT is greater than this value a RAPID statement is inserted in the NCV file Cutter Facets Syntax NSIDES a This value specifies the number of facets around the circumference of a cutter to be used in approximating its surface Increasing the number of facets improves the re
53. as those for setting machine units mm versus inch setting feedrate setting programming mode absolute versus incremental etc Many G codes have equivalent functions in SIL For example G70 set units to inch is equivalent to the SIL expression do_set_units 4 and G71 units in mm is equivalent to do_set_units 2 Example 8 1 Other G codes can be considered as preparatory functions and are used for presetting machine variables These include codes such as G53 use machine coordinates G54 to G59 select work coordinates 1 to 6 G93 to G97 feedrate declarations etc Example 8 1 G70 and G71 set units to inch and mm respectively Inputs nc type nc_machine current machine for simulation g type gcode_info contains G code statement Returns gcode_status Contains error code TRUE FALSE error messages if any and statement number continued on next page Soft Machines Creating SIL Tasks for NC Machines 9 x N S zZ Soft Machines includes two global arrays default_gtable and default_mtable containing generic NC tasks described in the following pages Code Description Remarks G0 Rapid Transverse Set interpolation mode then move machine 2 and 3 axes machines only G1 Linear Interpolation See G1 G2 Circular Interpolation CW See G1 G3 Circular Interpolation CCW See G1 G4 Program Delay Pause machine for specified time Table 8 1 Default G code table Develope
54. axes Switch When this is switched on the coordinate axes are displayed at the origin and at the top left hand corner of each window The Show cutter Switch When this is switched on the cutter is displayed The simulation runs slightly faster if the cutter is not displayed The Shadows Switch Switching this on displays shadows in the window Displaying shadows can be useful for highlighting features on the part and for understanding detail but is much slower than other display modes Shadows are displayed only if the light source has NOTE been moved away from the line of sight 10 48 Soft Machines First Cut Functions Modes Menu Selecting Modes from the Geometry Window displays this menu View Dynamic Fit Colors Display Modes Measure lt Enhance Section Alt S Compare 3 Rotate Alt R Translucent Ctrl T Reset gt Figure 10 42 The Modes menu The Enhance Switch Switching this on draws a dark line where the edge of one part of the model lies in front of another This is especially useful where two parts of the model are rendered at the same brightness making the edge between them invisible Switching off returns the image to its unenhanced state hn 6 D ic dD D Developer s Guide 10 49 3 97 Using First Cut The Section Selection You can section the part at any time or run a simulation while the part is sectioned To do this select
55. constructed type with base type list_of integer list of integer is the alternative syntax for list_of integer The list operations ensure that the base type of a list is well defined For example the call list 1 2 hello world Soft Machines Data Types results in a type mismatch error since all of the arguments are not of the same type This seems fairly straightforward until we consider empty lists lists with O members What is the base type of an empty list To solve this problem in SIL you need to declare the base type whenever you create an empty list A call to the empty list constructor has the form emptylist lt type gt where lt type gt is any type expression and indicates the base type of the empty list returned by this call Of course you must be able to determine whether or not a list is empty To check whether or not a list is empty use the predicate Object Oriented 7 to E E nS Do e mS a null lt list gt which returns TRUE if lt list gt is an empty list of any base type Arrays array_of integer is the type of all arrays of integers regardless of size The base type in this case is integer darray of integer is the alternative syntax for array_of integer Like lists SIL arrays are also dynamic This means that arrays can be created during program execution The call array_create lt type gt lt integer gt returns an array of base type lt
56. file 10 27 Read WIP file 10 19 read x command 3 2 read_char command 3 3 read_line command 3 3 read_token command 3 3 reader G code 9 5 9 10 Reading 10 134 readin command 3 3 real type 2 4 2 8 reals last rule 3 30 REAM 10 104 Record 10 39 records 2 7 casting 2 22 constructor 2 7 crecords 2 17 defining 2 7 Irecords 2 7 2 17 mk_ prefix 2 7 passing to C 3 34 syntax for 2 7 ref shape 6 11 reference coordinates 6 11 reference frame 4 17 6 11 reference system 4 1 referential equivalence 2 28 rel operator 4 17 remake command 3 16 REMARK 10 91 Remove chips 10 59 remove_view operator 2 28 rep_ of function 2 10 Repaint 10 152 repaint 10 37 repeat statement 1 10 Reset 10 54 10 153 Reset all 10 54 Reset light 10 54 Soft Machines Reset rotation 10 54 Reset section 10 54 Reset zoom 10 54 result_type function 2 10 roll see geometry ROTABL 10 92 Rotate 10 29 10 45 10 51 10 153 Rotate XY 10 44 Rotate Z 10 44 Rotating 10 153 rotating turrets 6 19 rotation 4 3 ruled surface 5 23 run command 2 36 run queue 2 36 Russell s paradox 2 9 rvsurf shape 5 6 S Sample 10 114 Sample Control File 10 117 Sample ncvholder lib 10 127 Sample Stock Definition 10 118 sarray 2 4 scalar types 2 4 2 8 sconst 2 22 undefined_sconst 2 23 scope_out script 3 20 screen writing to 3 5 Scroll bars 10 18 Section 10 50 10 152 Sectioning 10 152 seg_pose frame 5 11 Select SLA file panel 10 9 semaphore 2
57. following does this a mk_astack mk_Istack a emptylist ob set_method a push push list Istack ob That is when push is called on a it delegates the work to the push variant on Istack So push a x is equivalent in effect to push a as_ view Istack x Developer s Guide 2 31 3 97 Object Oriented Programming in SIL As illustrated above the operator method_defined x lt any type gt y id determines whether the given method has been installed in x The following operator makes an astack with the Istack implementation function mk_Istack astack var a astack l Istack begin a mk_astack mk_Istack a emptylist ob set_method a push push list Istack ob set_method a ipop pop list Istack set_method a empty empty list Istack mk_Istack a end Note that no method is assigned to on_underflow A user of astack is free at any time to execute a set_method to install a method for underflow 2 32 Soft Machines Classes and Inheritance Additional Methods Primitives The following are more primitives for methods pmethods x lt any_type gt prints out the methods currently installed in x This is useful for debugging define_method astack stack ipop pop Instead of installing a method into any particular astack the above use of define_method defines a standard method to use for ipop for any object that is an astack i
58. gt Constructed Types gt System Defined Types gt User Defined Types The SIL Type System uses the Pascal typing structure as a starting point and expands on it SIL provides types which are dynamically allocated and automatically collected from a heap These types include dynamic lists arrays strings trees and a special type lispob All SIL data are of type lispob lispobs can be partitioned into data types and data types can be classified as constructed system defined or user defined types This section describes the basic data types including lists arrays records strings Developer s Guide 2 1 3 97 Object Oriented 7 to E E nS fo e mS a Object Oriented Programming in SIL 2 2 Figure 2 1 Basic SIL data types NOTE The complete SIL data type structure is shown in Figure 1 5 Data type classifications on page 1 7 Constructed Types Constructed types are built from existing types using type constructors Some type constructors are list_of array_of function and procedure Lists A dynamic list is a sequence of objects all of the same type which can grow and shrink during program execution You can define and manipulate dynamic lists using the traditional Lisp operations car cdr and cons list_of integer is the type of all integer lists The base type of the type list_of integer is integer Notice that list_of list_of integer is another
59. is mandatory for NCV Fixture definitions are optional HM Cutter Default Parameters E Other Processing Defaults Syntax for Each Contol File Definition Variable names are in uppercase Each variable name is followed by an equal sign and the actual value of the variable for example XC 39 2 Each variable and value combination is separated by a comma The last variable and value combination in the control file is followed by a semicolon An example control file is shown in Example Control File on page 10 75 Stoc k Definition Stock can be defined in several ways specified box auto box and profile sweep Only one stock definition can be included per file Stock Box specified Syntax BOX_TYPE SPECIFIED XC a YC b ZC c LENGTHX d WIDTHY e HEIGHTZ f This box statement specifies the coordinates for the center of the stock box XC YC ZC and the overall length width and height of the stock box LENGTHX WIDTHY HEIGHTZ Developer s Guide 10 69 3 97 5 5 oO D ic D D 5 Using First Cut 10 70 Stock box Auto Syntax BOX_TYPE AUTO The box is automatically created by the system as the bounding box of the CL points This is useful as an approximation to the actual stock when the dimensions of the actual stock are not known Stock Profile Sweep Syntax PROFILE_TYPE SPECIFIED NUMBER_OF_PROFILE_POINTS a SPCX b SPCY c SPCZ
60. is called an instantaneous block Temporal commands are used in simulations that model time These commands include those that move or operate kinematics devices such as robots NC machines and automatic tool changers Do not confuse simulated time with real time An infinite loop will consume an indefinite amount of real time but may consume no simulated time if it contains only instantaneous commands Simulated time is also independent of the computer hardware used or system load and is determined by the task scheduler based on the kinematics characteristics distance moved velocity acceleration etc of the simulated object A simulation running on a faster computer may consume less real time but the simulated time should be identical if the same simulation is run on a slower computer Soft Machines Concurrency Tasks All SIL function and procedure calls are instantaneous No temporal commands can be called in the body of a function of procedure Temporal commands are created by defining tasks The syntax for defining a task is similar to that for defining functions and procedures see Example 2 13 Object Oriented Calling any temporal command from inside of a task for instance calling moveby from inside nev_moveby or calling spindle_on from task m3 will cause the task to consume simulated time In fact a task can be thought of as a sequence of instantaneous commands separated by calls to temporal commands Delay
61. it returns a failure indicator when no variant is found The function is_fail determines whether or not a universal value indicates failure Applications Applications are entities that remember a function and a list of arguments They are similar to closures with the added feature of an argument list that can be stored and passed to the function when the application is executed This function constructs an application function mk_application fn id args list of universal application An application contains the identification id of a function and the arguments to be passed to it when executed This function executes an application function execute app application universal The application function is called with the included arguments Soft Machines C Data Types C Data Types This section contains these topics C Records and C Arrays gt C Strings gt C Constants at Build Time Object Oriented 7 to E E nS Do e mS a C Records and C Anays Any SIL record or Irecord includes a tag word at the beginning for use by the garbage collector Any SIL array or string has such a tag word too as well as a length field The crecord facility in SIL allows records and arrays to be declared without including these additional tag words and length fields The main motivation for this is to allow direct manipulation by SIL code of any C data structure The syntax
62. look at some of the other Modes buttons later Zooming in on the Part This function is described under Mouse buttons on page 2 7 Try it as follows E Select an area of the Geometry Window to be enlarged by holding down your right mouse button and dragging the cursor diagonally across the area to be zoomed E Release the button and the area will be redrawn to the size of the window 10 154 Soft Machines First Cut Tutorial E To get the view back as it was select the Modes menu in the Geometry Window and select Reset and Reset zoom Enhance Section Alt S 1 Compare Rotate Alt R Translucent Ctrl T Reset gt Reset_Tear off Reset all Alt A Reset section Reset rotation Reset zoom Reset light Figure 10 85 The Modes menu Light Source and Shadows You can move the light source in your view of the model by toggling the Move light button in the Dynamic menu hex AP AlteZ o Move light Zoom Figure 10 86 The Dynamic menu Either click the middle mouse button or drag it to place the light source Clicking or letting up the button in the center of the window places the light source at the eyepoint where it is normally Clicking or letting up at the edges of the viewport places the light Developer s Guide 10 155 3 97 oO y WL ke N Using First Cut source in that direction at right angles to the line of sight Clicking or letting up in int
63. new module s panel area by entering cp cim gui panels mgui top_bar cim gui panels lt module gt top_bar Soft Machines Creating a New Product The top bar panel may then be customized using the Visual SIL Window for the new product 5 Add the top bar to the new build area by editing the file cim builds lt first version gt panels and adding the line top_bar When the product is built the new top bar will be included 6 Edit the product s top_init sil replacing the line top_bar ibaseStop with top_bar lt module gt Stop_bar When the product is built the new top bar will replace the default o eae to 0 a ow 7 Copy the file cim gui help mgui help sil into the new help directory by entering cp cim gui help mgui help sil cim gui help lt product gt 8 Edit the file cim gui help lt product gt help silto add online help for panels new to the product Online help is optional The help files should be placed in the cim gui help lt product gt directory 9 Edit the top_init sil file and add the line 1d cim gui help lt product gt help 10 Once all code has been written and the SIL code has been compiled enter scope_out lt product gt 11 For each module which contains new code use remake lt module gt lt product gt to execute the second stage of compilation from C to binary Developer s Guide 3 13 3 97 Working with SILCode To build the prod
64. ntype y list_of_ntype ntype assumes a real function type is the input function is_task x sconst boolean function is_closure x sconst boolean function is_tclosure x sconst boolean function input_types x ntype list_of_ntype function result_type x ntype ntype 2 10 Soft Machines Advanced Data Types Supertypes SIL supertypes include lispob and universal Supertypes are ordinary data types they can appear in type definitions variable declarations and as input or output types for functions What makes supertypes super is that SIL data objects of any type can be legally cast to a supertype using SIL s as_type operation Object Oriented 7 sS to S E E nS Do e a lispobs The type lispob is the SIL type whose values include all SIL values lispob was derived from LISP OBject ob is short for lispob i e ob lispob Example 2 3 illustrates how to use ob to resolve SIL typing restrictions Developer s Guide 2 11 3 97 Object Oriented Programming in SIL 2 12 Soft Machines Advanced Data Types Object Oriented 7 sS to S E E nS DS e a universals All SIL data tagged by type is type universal As with lispob any SIL expression can be cast to universal and back A universal is a type tagged lispob implemented as a SIL type type universal Irecord value_of lispob type_of ntype end Like any other r
65. number ignored 3 pam 2 FCYL pam 3 5 Axis point no 1 X Y and Z coordinates pam 6 8 Axis point no 2 X Y and Z coordinates pam 9 Radius Developer s Guide 10 83 3 97 10 84 pam 1 pam 2 pam 3 pam 4 NOTE Format pam 1 pam 2 integer char char float or integer char float Specifies the feedrate to be used for subsequent cutter motions CL record number FEDRAT Units IPR or IPM or MMPR or MMPM The feedrate for subsequent tool motions Parameter 3 units is optional The order of parameters 3 and 4 can be reversed integer char Marks the end of the input file to NC Verification CL record number FINI Soft Machines FROM Format pam 1 pam 2 pam 3 5 pam 6 8 NOTE GODLIA Format Use pam 1 pam 2 pam 3 5 GOHOME NCV Input Data Formats integer char float float float float float float Specifies the starting position for the next tool motion Whatever its current position the cutter is immediately repositioned to the specified FROM point without sweeping through any of the intervening space CL record number FROM X Y and Z I J and K components of tool axis The I J and K components are used only when MULTAX is ON oO o a a LL to a gt integer char float float float Specifies the next tool motion as an offset from current point CL record number GODLTA X Y and Z offsets See description un
66. o o O ae ow Developer s Guide 3 35 3 97 Working with SILCode 3 36 Soft Machines Calling C Code from SIL 5 23 o Oo SO on ow Developer s Guide 3 97 Working with SILCode 3 38 Soft Machines Calling C Code from SIL Protecting the Data Space when Passing Strings As mentioned earlier SIL strings are passed to C with the type stringob SIL strings differ from C strings in that they include a header which consists of a type tag and a length and are not necessarily null terminated the length field in the header determines how long the string is not the first occurrence of a nul in the sequence of bytes which make up the string The C function strlen will return the length of a stringob while STRING_BODY will yield a pointer to the beginning of the string itself The functions I2c_str and c2I_str convert back and forth between the SIL and C representations of strings I2c_str converts from SIL to C strings and c2l_str should only be used to return a single value directly to SIL as in return c2l_str lt a C string gt If c2I_str is not used in this fashion the data space of SIL may be corrupted o eae to 0 a ow Developer s Guide 3 39 3 97 Chapter 4 Geometry in Soft Machines Understanding Soft Machines Geometry This chapter explains the geometric terms used in Soft Machines and contains instructions for manipulating geometry with SIL command
67. oO a it dD a Developer s Guide 10 57 3 97 Using First Cut The CL ID Selection To identify the cutter and tool path motion that cut a particular point select CL D from the Measure menu and you will get the following dialog View Dynamic Fit Colors Display Modes Measure Point Alt T Time CL ID Remove chips Volume Alt V i Ee Ta T k E Cutter CUTTER 0 1250 0 0000 0 0625 0 0376 31 0000 0 0000 1 5750 CL ID 0 GoTo 3 8750 1 6250 0 3124 0 0000 0 0000 1 0000 OK Figure 10 51 The Determine CL ID panel e The cutter description is displayed as a CUTTER statement for APT cutters and as a PPRINT FORM statement for form cutters e The motion is displayed as a GOTO statement showing the point s X Y Z and I J K coordinates You can select click at any point on the model and the CL ID of the motion that cut that surface will be displayed 10 58 Soft Machines First Cut Functions The Remove chips Selection Developer s Guide 3 97 To remove material separated from the view of the part First select the part by clicking on it with the left mouse button Then from the Geometry Window s Measure menu select Remove chips While the removal calculation is underway the part will be shaded in red to show progress Chip removal is done only in the Geometry Window in which you selected the piece If you wish you can repeat it for
68. other Geometry Windows If you have activated a viewing mode rotation enhancement zooming sectioning or comparison in the Geometry Window then you will be asked to reset the view and then remove the chips 10 59 5 oO a it dD a Using First Cut The Volume Selection To measure the volume of the cut part and of the material removed choose Volume from the Measure menu Measure Tear of f Point Alt T Time CL ID Remove chips Volume Alt V Measure Volume Current volume 2 874 Volume removed 10 590 OK Figure 10 52 The Measure Volume panel There are several things to keep in mind when using these numbers e The stock must be entirely within the window when the simulation begins Anything outside the window will be silently ignored by the volume calculations e If there are chips remaining in the window they are counted as part of the part volume To remove them from the calculation you must remove them from the window choose Remove chips from the Measure menu With regard to accuracy e The numbers are estimates No uncertainty figures are displayed because there is actually no bound on the possible error Since First Cut only samples the 10 60 Soft Machines First Cut Functions part surfaces at each pixel it has no way of knowing how rough the surfaces are and how much volume is contained between pixels However for a
69. part which you as the user know to be smooth it is possible to estimate the likely error for this purpose both the tutorcl and clevis tutorial parts can be considered smooth If no stock faces are seen edge on i e you have avoided Front view Side view etc you can expect an error on the order of one part in W where W is the width of the part on screen in pixels The default window width is 600 pixels so if your smooth part fills the window the error would be one part in 600 If several faces are seen edge on the error will be roughly three times this or three parts in W If you know your part contains small details that are not captured in First Cut s pixel based solid model we suggest you avoid calculating the volumes altogether because there is no way to know how accurate they are These accuracy considerations are true of all pixel based verification products 5 S 7 ir D S D 5 e The volume calculation ignores the fixtures and as designed part if they are present To measure the volume of one of these you can change its type to Stock go to Simulation mode and measure the volume However remember that First Cut uses polygonal approximations of the as designed part and fixtures The volume of the as designed part in particular is dependent on the quality of the SLA file given to First Cut Conclusion This completes the description of the on screen functions of First Cut Developer s Guide 10 6
70. protections assigned to SIL entities Any attempt to redefine an entity with protection level greater than that defined by current_authorization will result in an error Resetting the value of an existing global with the symbol does not require any authorization however resetting this type and value with this symbol does require adequate authorization System functions generally use a0 as their protection level The default value of current_authorization is 1 You can set authorizations to the level you wish by using current_authorization lt level gt Developer s Guide 3 1 3 97 o eae to 0 a ow Working with SILCode Input Output 3 2 This section includes the following topics gt Reading from the Keyboard gt Writing to the Screen gt Reading and Writing to a File gt EOF Presenting SIL I O capabilities consists mainly of listing conventions which because of their simplicity need no explanation For this reason this section contains a series of annotated examples These examples will serve to demonstrate how to use the I O conventions and in what context Reading from the Keyboard More specifically read x causes the next token in the input stream to be read in The type of x must be string integer real id or lispob If the token can be interpreted as a data item of the kind indicated by the type of x then x will be assigned this value otherwise an error will occur Any
71. s memory and represent abstract entities in the problem domain The generic term used in SIL to describe all of these objects is lispob which was derived from LISP OBject Lispobs may be classified into data types or to put it the other way around a data type can be viewed as a collection of similar lispobs Knowing the data type of a lispob is important For example this information is used to compute the amount of memory space required to store the lispob or to detect inconsistencies in a SIL program SIL data types fall into one of three broad categories E System defined types integer real boolean string Constructed types list types array types function types mM User defined types record types classes Soft Machines The SIL Runtime Model ca D 3 d Sr d Arrays 3 lt a e g c e gt mo e 2 i Lists Functions Procedures integer real Scalartypes boolean string Metatypes ntype Supertypes lispob universal Records Classes Figure 1 5 Data type classifications Expressions This section describes features in SIL which are identical NOTE to Pascal so you may want to skim or even skip this section if you know Pascal There are three types of SIL expressions terms statements and definitions Developer s Guide 1 7 3 97 Intoduction to the SIL Language Tems There ar
72. source in a window Toggle Move light in the Dynamic menu then either click the middle mouse button or drag it to place the light source Clicking or letting up the button in the center of the window places the light source at the eyepoint where it is normally Clicking or letting up at the edges of the viewport places the light source in that direction at right angles to the line of sight Clicking or letting up in intermediate locations places the light source at intermediate directions 10 45 6 2 a r to N gt Using First Cut 10 46 The Zoom Selection In Simulation mode you can zoom up the image dynamically by toggling Zoom as an alternative to using the Zoom Window feature As explained in Mouse Buttons in Simulation Mode on page 2 8 the Zoom Window feature enables you to select an area of the view using the right hand mouse button this area is then re drawn magnified to the window size However Dynamic Zoom works by toggling Zoom from the Dynamic menu and then selecting the point to be zoomed in your view you then press the middle mouse button and drag the mouse upward until you get the desired degree of magnification Fit Menu Selecting Fitfrom your Geometry Window displays this menu View Dynamic Fit Colors Display Modes Measure Fit Alt F Center Figure 10 39 The Fitmenu Fit Selecting Fit resizes the model to take up the full window
73. sz extents pl plane structure Operator Resulting Shape mk_plsurf n dir3dr d sz real plsurf mk_plsurf n dir3dr d real plsurf mk_plsurf pl plane plsurf Grid Surface g point grid ng normal grid Operator Resulting Shape mk_gsurface g ng grid gsurface makes grid gsurface mk_gsurface g grid gsurface makes grid gsurface for which normals are calculated automatically psurf_to_gsurf z psurface gsurface generates discrete grid surface out of psurface crvs1 crvs2 first and second curve list Operator Resulting Shape mk_rsurf crvs1 crvs2 list of pcurve rsurf Be sure that pcurves are oriented correctly to avoid twisted ruled surfaces ann Eg 36 2E aie 36 8a P Modeling Using SL Commands Surface of Revolution crvs generatrix curves theta angle revolution in rad ax axis of revolution Operator Resulting Shape mk_rvsurf crvs list of pcurve theta real rvsurf mk_rvsurf crvs list of pcurve rvsurf mk_rvsurf ax seg3dr crvs list of pcurve rvsurf theta real mk_rvsurf ax seg3dr crvs list of pcurve rvsurf Tube as rvsurf r radius of tube a angle revolution in degrees 0 to 360 h height of tube ur resolution in circular direction if omitted c_circe_res is used Operator Resulting Shape tube r a h real ur integer rvsurf tube r a h real rvsurf tube r h real rvsurf Soft Machines Modeling Constructors Funnel as rvsurf
74. the CL filename and the Control File name you will be prompted for the filenames First Cut displays a text banner message during the conversion The files in the directory after the conversion have also been listed showing the new ones generated and these are explained below When the conversion is complete you are returned to the UNIX prompt The NCV File and MES File The CLTONCV conversion program creates two output files in our illustration on the preceding page tutorcl nev and tutorcl mes The nev file contains the converted data which is the input file for the simulation program The NCV file has the format clfilename ncv An example of an NCV file is given in Sample NCV File on page 7 39 The other output file tutorcl1 mes in our illustration contains messages generated by the conversion process It is called the MES file and has the format clfilename mes A MES file would read something like this APT AC CLFILE DUMP UTILITY LISTING INPUT OPTIONS Soft Machines Converting a CL File cltoncv BOX_TYPE SPECIFIED DEFAULT _CUTTER NO DUMP OPTION SPECIFIED CLFILE_TO APT_SOURCE ASSUMED default cutter height lt 0 minimum_cutter_length used NUMBER OF CLPOINTS 470 The Control File Option Processing defaults can be selected directly from the menus or by using the control file option described here The control file includes E Stock and Fixture Definitions a stock definition
75. thickness approx Measurements can be taken when the window is zoomed or sectioned but not when it is rotated This function has these restrictions It does not work on 5 axis cuts i e cuts in which the cutter axis changes from one CL point to the next e It does not work on circular interpolation cuts G02 G03 and the CALL CXCIR macro since First Cut approximates these internally as a series of linear cuts It does not work on cuts produced by ramping a filleted cutter The Time Selection Selecting the Time button displays the following dialog Measure Tear off Machining time to current CL point 0 51 32 Total machining time 0 51 32 OK 10 56 Figure 10 50 The Measure Time panel Soft Machines First Cut Functions Machining times displayed are established as follows e The display is of the machining time from the beginning of the current file to the current CL point and the total machining time calculated for the file If simulation has not been started the current time is zero if simulation has completed the current time equals the total time e The calculations assume that all feedrates in the input file are expressed in the same units i e inches or millimeters and that the coordinate system is in the same units e The times include only cutting motions i e they do not take into account RAPID motions tool changes or manual operations 5
76. to a Pascal or SIL record definition type lt new_class gt class superclass lt class1 gt superclass lt class2 gt lt instance var 1 gt lt type1 gt lt instance var 2 gt lt type2 gt Object Oriented 7 S to E E nS Do e mS a end Example 2 8 illustrates how to define a subclass for a cutting tool Developer s Guide 2 25 3 97 Object Oriented Programming in SIL Inheritance Class inheritance is used extensively throughout Soft Machines As mentioned earlier a machining center is a specialization of an NC machine which is a specialization of a robot Thus the class nce_machine inherits all the properties of the class robot such as forward and inverse kinematics joint limits velocity and acceleration etc In other words all functions using robot as input type can also be used for nc_machine without explicit casting to type robot Example 2 9 introduces the principles of inheritance In this example robot related functions are used for NC machines 2 26 Soft Machines Classes and Inheritance Specialization and Generalization The specialize_to Operator Figure 2 3 shows a simplified class hierarchy of objects in Soft Machines All geometric entities in a Soft Machines workcell are represented as type shape Object Oriented 7 to E E nS fo e mS a cutting_tool tool_ holder tool_changer tool_library end e
77. to this function If a DWELL option is specified the standard FACE G82 fixed cycle in ISO 1056 will be used to perform the operation Soft Machines NCV Input Data Formats The general syntax is as follows IPM CYCLE CSINK odia angle idia ee feed value MMPR seconds clear clear2 RAPTO start DWELL REV revolutions The odia is the final outside diameter of the chamfered hole For example if a 0 06 chamfer is required on a 1 inch diameter hole the final diameter is 1 0 06 x 2 1 12 The angle in degrees specifies the included angle of the tool For example a 45 degree chamfer will require a tool having a 90 degree included angle The angle must be specified as 90 not 45 in the CSINK command oO a a LL to a gt The optional idia specifies the original inside diameter of the hole If this is specified NCV will plunge the tool at a rapid rate to a calculated point clear of the original hole and then feed the remaining distance If the inside diameter is omitted the entire plunge motion will be performed at the specified feedrate Developer s Guide 10 113 3 97 Using First Cut 10 114 The CSINK cycle causes the following motions to occur at each valid point within the cycle CYCLE CSINK k I IPM feed value r EB 1 Position at rapid to r above the control point SI A 2 Feed a distance r Ai aa o
78. token can be interpreted as a string or lispob The obvious Soft Machines Input Output restrictions apply to integers and reals IDs must follow the SIL rules for IDs alphabetic character followed by a sequence of non delimiters Reading a token as a lispob and a string may yield different results 23 D O O ae ow The readin command reads one token from the input and then discards the rest of the line if any on which the token appears In addition to the read and readin procedures the following functions are available M read_char reads just one character and returns its ASCII code HM read_token reads one token and returns it as a lispob E read_line reads an entire line and returns it as a string independent of what may appear in the line Developer s Guide 3 3 3 97 Working with SILCode Example 3 3 shows examples of read and readin 3 4 Soft Machines Input Output Whiting to the Screen 5 23 o Oo SO lt a ow Reading and Writing to a File Developer s Guide 3 5 3 97 Working with SILCode Soft Machines Input Output 23 o5 O O ow Additional operations on files are read_char lt text gt read_token lt text gt read_line lt text gt Developer s Guide 3 7 3 97 Working with SILCode Code Organization 3 8 The Soft Machines environment provides facilities for compiling and linking i
79. value r 1 Position at rapid to r above the control y point g 2 Feed a distance f r at feedrate A inches minute Dwell for specified or default period pw Rapid retract to a position r above the f control point TAP Cycle The TAP cycle performs a sequence of operations equivalent to the G84 fixed cycle in ISO 1056 The basic syntax is as follows IPM IPR MMPM MMPR CYCLE TAP depth feed value clear RAPTO start L INVERS 10 102 Soft Machines NCV Input Data Formats The TAP cycle causes the following motions to occur at each valid point within the cycle CYCLE TAP f IPM feed value r 1 Position at rapid to r above the control T point A A2 Feed a distance f r at feedrate inches minute 3 Reverse spindle direction 4 Feed retract to a position r above the f control point 5 Reinstate initial spindle direction oO a a LL to a gt Y BORE Cycle The BORE cycle performs a sequence of operations equivalent to the G86 fixed cycle in ISO 1056 If the DWELL option is specified the G87 fixed cycle in ISO 1056 is used If the ORIENT option is specified the G88 fixed cycle in ISO 1056 is used DWELL and ORIENT cannot be used together The basic syntax is as follows IPM IPR MMPM MMPR CYCLE BORE depth feed value clear jog RAPTO start L seconds
80. values Most constructors Developer s Guide 5 1 3 97 nn 9 36 2E ace 36 P Modeling Using SL Commands return models centered on the origin of the World coordinate frame They may be transformed to new locations with the moveto and moveby commands Operator Resulting Shape mk_point lt xc gt lt yc gt lt zc gt Cartesian point Curves Operator Resulting Shape mk_rctcurve pts darray of pnt3dr retcurve mk_rctcurve pts darray of pnt3dr n integer rctcurve n use 0 n points as input mk_rctcurve p q pnt3dr rctcurve mk_circle r real circle centered at origin mk_circle radius real p pnt3dr circle p center mk_circle radius real f frame circle f circle defined w r t the frame arc r a real res integer circle r radius a angle in degrees 0 360 0 res resolution arc r a real circle r radius a angle in degrees 0 360 0 arc r_ real circle r radius 5 2 Soft Machines Conics a x coefficients b y coefficients Modeling Constructors Operator Resulting Shape mk_ellipse a b real mk_parabola a real mk_hyperbola a b real ellipse parabola hyperbola Operator Resulting Shape mk_rbspline knts wghts darray of real cpts darray of pnt3dr rbspline knts knots wghts rational part of the point called weights cpts control points mk_rbspline knts darray of real cpts darray of pnt3dr knts knots
81. x_axis To affix a model named fixture to the X axis of the machine you would use the SIL statement affix fixture concat name vmc vmc x_axis 6 8 Soft Machines Defining NC Coordinate Systems Z axis ve LINK3 ve Ey Z axis ve LINK3 ve Y axis ve Y axis ve LINK1 ve LINK1 ve Spe H exe axis ve axis ve LINK2 ve LINK2 ve vmc x_axis LINK2 vme x_link 2 vmc y_axis LINK1 vmc y_link 1 vmce z_link LINK3 vmce z_link 3 Figure 6 3 Mapping NC axes to joint links The fields x y z a b c _link contain the link number of the respective axes The sign of each field tells the direction of the axis with respect to the direction of the joint vector ve sign means the machine axis and the SILSPEC link moves in the same direction ve sign means they move in opposite direction In Figure 6 3 x_link is 2 If you wanted to move the X axis of VMC by the distance x_incr you would use moveby vmc vmc x_link x_incr A more general case would be moveby vmc vmc x_link sgn vmc x_link x_incr where sgn vmc x_link gives the direction of motion with respect to the link an 3 De 35 Sa of Developer s Guide 6 9 3 97 Modeling NC Machines Machines with fewer than 6 axes contain null fields for non existent axes null_string for x y z _axes and the global nev_null_link for x y Z link NC Coordinates Versus
82. you want and set the general controls you want applied This panel is also used to carry out any stock and cutter definition work you require Defining the Stock Toggling Load SLA file displays the Select SLA file panel Select SLA file demo_part4 on 5 oO 7 ix fe o Figure 10 5 The Select SLA file panel Setting the Cutter Display Wireframe mode is the default setting Simulate Mode This switch takes you into Simulation shaded mode Selecting this button causes the following e The wireframe stock and fixture models in each Geometry Window become shaded e The buttons that control the simulation Go Stop etc become active Developer s Guide 10 9 3 97 Using First Cut When you switch on Q Simulation Playback you are asked to enter a filename The purpose of this is to prevent you from inadvertently losing the results of your simulation run jel DO ox a Figure 10 6 Name requestor Metal Removal Window The Metal Removal Window provides all the basic set up functions top level controls for running the simulation and message and reporting facilities Figure 10 7 The Metal Removal Window Table 9 2 describes the Metal Removal Window selections and tells you where the menu is described in greater detail Menu Description File Provides the file reading and writing functions See File Menu on page 10 15 Model Provides model manipulation capabili
83. 0 950 2 250 Soft Machines NCV Input Data Formats This line is followed by descriptions of the polygons i e facets in any order The first line of a polygon description looks like this facet normal xn yn zn where the xn yn zn are the components of the polygon s normal vector The vector must point outward and must be normalized The second line of a polygon description looks like this outer loop This line is followed by the descriptions of the polygon s vertices in either clockwise or counterclockwise order Each vertex is described by a line that looks like this vertex x y Z where x y z are the coordinates of the vertex z The description of each polygon ends with these two lines D endloop 5 endfacet The last polygon description is followed by this line the last line of the file end solid The following sample file represents a tetrahedron solid tetrahedron facet normal 1 0 0 outer loop vertex 0 0 0 vertex 0 0 2 vertex 0 2 0 endloop endfacet facet normal 0 1 0 outer loop vertex 0 0 0 vertex 2 0 0 vertex 0 0 2 endloop endfacet facet normal 0 0 1 Developer s Guide 10 119 3 97 Using First Cut 10 120 outer loop vertex 0 0 0 vertex 2 0 0 vertex 0 2 0 endloop endfacet facet normal 111 outer loop vertex 2 0 0 vertex 0 2 0 vertex 0 0 2 endloop endfacet end solid NCV does not require the filename to have any particular extension The file may contain any n
84. 00 0 120 0 0 0 0 2 00 The tool is defined using the standard APT seven parameters 8 FROM 10 0 10 0 10 0 The tool is positioned prior to the first cut 12 SPINDL CLW 1250 00 The spindle speed is displayed during simulation 14 FEDRAT IPM 12 50 The feedrate and units are displayed during simulation 18 RAPID The next move is treated as rapid The cutter is colored red and if any material is cut NCV recognizes that an error has occurred NOTE RAPID without an asterisk applies only to the first GOTO following it Developer s Guide 10 115 3 97 Using First Cut 10 116 24 32 36 38 40 62 65 66 69 76 COOLNT FLOOD Coolant flow is displayed during simulation GOTO 1 0 1 0 2 0 The tool is swept to the specified position because this is a rapid move the cutter is colored red GOTO 3 0 3 0 4 0 The tool is swept to the specified position the tool color returns to normal GOTO 1 0 4 6 2 0 The tool is swept to the specified position MULTAX ON The I J and K values specified in FROM and GOTO statements will be recognized by NCV FROM 1 1079 0 300 3 0009 0 000 1 0 0 00 The tool is positioned prior to the next cut Note that NCV does not sweep the tool from 1 0 4 60 2 0 to its new position The FROM statement causes the tool to simply disappear and reappear at the new position GOTO 1 1502 0 300 2 9557 0 000 1 0 0 00 The tool is swept to the specified position PPRINT TRUE C 1 4000
85. 0Z15000M10P0020 N0020M10M04P0020 N0220Z 60000F 1000 N0040G1X75750Z10000F 1000 N0230X67000Z 70000 Start Block 30 P30 Start Block 30 P30 N0340P0030 N0310G1Z50000F1000P0030 N0320G0Z120000 Start Block 40 Start Block 40 P40 NO360MO9M05M1 1 P0040 N0380P0040 N9999M30 Figure 9 2 Synchronized cutting Developer s Guide 9 17 3 97 Chapter 10 Using First Cut Introduction to First Cut Inttoduction to First Cut First Cut a numerical control verification software product enables you to visually verify an NC program before releasing it to the shop floor Using standard NC files First Cut simulates the machining process You see the material being removed from the stock as the cutter proceeds along the tool paths specified by the NC programming file 6 re e2 Figure 10 1 First Cut s Geometry Window First Cut significantly reduces the need for the physical verification process and its related costs Developer s Guide 10 1 3 97 Using First Cut First Cut Product Features 10 2 The following are the main features of First Cut gt Simulation of complex multi axis cutter motion Material removal is displayed in full color shaded images gt Several types of errors are detected automatically rapid cuts cuts into fixtures tool holder collisions and cutting above the flute length Errors are displayed on screen and logged to a file and screen images can be captured autom
86. 1 3 97 Using First Cut Chapter 3 provides a self teach tutorial which you can use both to become familiar with the operation of the system and to exercise many of the functions above Getting the Most From First Cut 10 62 This section describes ways to maximize productivity of First Cut Performance The performance of First Cut is not affected by model complexity The time taken to simulate the last cut in a ten thousand point CL file is typically identical to the time taken for the first cut The size of the cutter image on the screen affects simulation performance the larger the cutter image the longer it takes to simulate a given CL file simply because there is more time required for drawing the material cuts and the cutter movements For example a view at half scale is generated four times as fast as one at full scale The cutter and holder display can be turned on and off Simulation performance gets faster if solid display is turned off and much faster if holder display is turned off however note that turning off holder display disables holder collision checking Turning off wireframe cutter display effects only a slight change The simulation time increases somewhat with the value of NSIDES the number of straight line segments used to approximate the circular cross section of the cutter Choosing the Continuous display of cutter option reduces performance by 4 12 times for three axis motion and 8 24 times for
87. 1 Position at rapid to r above the control y point 2 Feed a distance f r at feedrate A A inches minute 3 Optionally dwell if DWELL is specified 4 Feed retract to a position r above the control point DEEP Cycle The DEEP cycle performs a sequence of operations equivalent to the G83 fixed cycle in ISO 1056 The basic syntax is as follows CYCLE DEEP depth INCR lt steps amp feedrates gt clear clear2 Developer s Guide 10 105 3 97 oO a a LL to a gt Using First Cut 10 106 L seconds RAPTO start DECR value DWELL REV revolutions The DEEP cycle syntax contains three parts E Optional total depth specification M lt steps amp feedrates gt which can be one or more series of depth values and feedrate specifications E Standard clearance and option information The total depth specification depth INCR is optional It affects how the lt steps amp feedrate gt information is interpreted If the total depth is omitted then the subsequent step data specifies the depth of each step below the control point If the total depth is specified the subsequent step data specifies the incremental steps of the cycle The total depth must be coded immediately following the DEEP keyword and it must be followed by the INCR keyword When a depth is coded NCV will ensure that the cycle goes to the specified depth regardless of t
88. 27 grouping 8 25 modal 8 23 non modal 8 23 reader 9 5 9 10 G code reader 9 5 9 10 G code translator 6 2 closure 2 45 6 21 customizing 2 47 data flow 9 2 G table 6 21 8 3 closures 8 28 customizing 8 27 g_functions type 8 24 garbage collection 2 17 gcode_info type 9 3 Geometry 10 138 geometry definition 4 1 equivalent angle axis 4 9 4 13 4 15 Euler angles 4 9 4 12 Z Y Z 4 12 frame 4 2 orientation 4 8 pose 4 1 4 16 6 11 position 4 4 4 7 Cartesian description 4 5 cylindrical description 4 6 spherical description 4 7 roll pitch yaw 4 11 terms 4 1 units 4 3 yaw pitch roll 4 9 4 10 4 11 Geometry viewing window 10 11 Geometry Window Functions 10 41 Center 10 46 INDEX 5 Index Colors 10 47 Display 10 48 Dynamic 10 43 Fit 10 46 Measure 10 55 Modes Menu 10 49 Pan 10 44 Rotate 10 51 Rotate XY 10 44 Rotate Z 10 44 View 10 42 Zoom 10 44 get_active_cutter function 7 19 7 21 get_active_holder function 7 19 get_cuitter_tip function 7 20 7 21 get_holder_on_flange function 7 20 get_tlo procedure 7 28 global environment 1 5 globals 1 11 gluing objects 5 15 go command 3 27 GODLTA 10 85 GOHOME 10 85 10 86 GOTO 10 86 10 151 grid surface adding 5 5 5 22 H h 10 123 h files 3 10 3 30 Help 10 40 Index 10 41 On Version 10 41 Tutorial 10 41 help command 1 16 help files adding 3 13 help getting 1 16 holder cutter assembly 7 4 home directory 3 8 home position 6 14 8 4 hyperbola adding 5
89. 38 semicolon use of 1 12 sequences 1 9 set_tlo function 7 28 Setting 10 144 10 145 Setting up Recording 10 144 Shadows 10 48 10 156 shape 6 11 shape data type 4 2 Developer s Guide 3 97 Index shape adding 5 9 5 24 Show axes 10 48 show command 4 17 Show cutter 10 48 signal command 2 39 2 41 SIL arrays see arrays class see class code calling C code from 3 29 3 39 compiling 3 8 3 14 3 17 rbuild command 3 17 remake command 3 16 debugging see debugging importing C functions 3 30 interpreted 3 22 recompiling 3 16 data types see data types definitions 1 11 environment 1 3 expressions 1 3 1 7 help 1 16 implementation 1 2 interpreted language 1 5 interpreter 2 6 3 2 statements 1 9 terms 1 8 uncompiled code 1 3 SIL I O 3 2 sil_load command 3 11 SILSPEC coordinates 6 10 Simulation 10 149 simulation 6 18 Simulation and playback control 10 156 Simulation Setup panel 8 30 SLA 10 118 SmallTalk 1 2 Solid cutter 10 38 spatial geometry see geometry Special 10 122 specialize_to operator 2 27 sph type 4 7 INDEX 11 Index sphere adding 5 23 SPINDL 10 92 spindle 7 6 7 32 8 6 8 18 splice operator 2 29 SPPROF 10 94 SPROF 10 94 sspa Script 3 14 3 18 stack 3 24 start command 2 36 3 17 start up 2 21 statements 1 7 1 9 atomic 1 9 compound 1 9 constructors 1 9 iteration 1 10 static 2 19 static polymorphism 1 3 station number 6 19 status 6 19 Stock box auto 10 70 Stock Box specifi
90. 4 centimeters foot 30 48 centimeters mm 0 1 centimeters and mil 0 00254 centimeters The default unit for rotation is degrees The size of a rotation is the number of degrees in the swept angle Positive rotations are taken to be counter clockwise looking down the positive axis of rotation toward the plane of rotation Negative rotations are clockwise A pre defined constant rad 180 pi degrees is provided for working in radians E Ps 0 E F O p The following equation returns a value of 180 pi rad Developer s Guide 4 3 3 97 Geometry in Soft Machines Position A position is a property of points that describes a point s location relative to some known reference frame The position of the point is at X Y Z in Cartesian coordinates In Soft Machines the units of position are specified by centimeters by default but can be changed easily to the units of your choice Position seen X Y Z 0 0 0 Z Figure 4 2 Position For example every point on an object has a position relative to the frame of that object Every frame has a position relative to some other frame determined by the location of its origin a point in that frame A convenient way to depict position is with a vector pointing from the reference frame s origin to the positioned point Position Vectors Figure 4 3 Position vectors A point s position is specified by its reference frame coordinates Soft Machines provid
91. 73 mk_aax command 4 13 mk_application function 2 16 mk_array_type function 2 10 mk_bsurf operator 5 8 mk_cap operator 5 4 mk_circle operator 5 2 mk_circular_are operator 5 10 mk_cnsurf operator 5 8 mk_crt command 4 5 mk_cstring function 2 19 mk_cyl command 4 6 mk_ellipse operator 5 3 5 10 mk_function_type function 2 10 mk_gsurface operator 5 5 mk_hyperbola operator 5 3 5 10 mk_list_type function 2 10 mk_parabola operator 5 3 5 10 mk_plsurf operator 5 5 mk_point command 4 5 mk_point operator 5 19 mk_pose command 4 16 mk_pspline operator 5 10 mk_psurf operator 5 11 mk_rbspline operator 5 3 mk_rbsurf operator 5 7 mk_rctcurve operator 5 2 mk_rsurf operator 5 23 5 24 mk_rvsurf operator 5 6 5 23 5 24 mk_rvsurf_shape operator 5 9 mk_sph command 4 7 INDEX 8 mk_static procedure 2 20 mk_static_Istring function 2 20 mk_ticker function 2 37 mk_universal constructor 2 13 mk_xyz command 4 12 mk_ypr command 4 11 mk_zyz command 4 12 mnode class 2 33 6 21 model data type 5 1 Model Menu 10 22 Create fixture 10 28 Create stock 10 23 Rotate 10 29 Translate 10 29 modeling affixing a model 6 8 constructors 5 1 5 11 5 19 5 24 examples 5 19 IGES file converting to 5 18 IGES models converting with text 5 17 kinematics 6 4 link example 5 19 operators 5 14 tool 7 25 wireframe 5 13 Modes Menu 10 49 Compare 10 51 Enhance 10 49 Reset 10 153 Section 10 50 10 152 module creating a new 3 14 3 18 definition 3 8 version creatin
92. C Tooling FELD TYPE DESC RIPTION holder_type id Identifier for type of tool holder cutter_types list_of id Identifiers for cutters compatible with this holder used in conjunction with cutting_tool cutter_type Table 7 2 tool_holder field descriptions continued Flange of Holder Cutter Flange Cutter Mount Cutter Flange Cutter Mount Flange of Holder Figure 7 8 Mounting cutting tools on tool holders Figure 7 8 illustrates the relationships among the different fields of tool_holder When a cutting_tool is mounted onto a tool_holder the cutter is moved so that the flange of the cutting _tool moves to the mount frame of the tool_ holder 7 12 Soft Machines Tool Holder Given a cutting tool ct and a tool holder th we can mount ct onto th as follows Compute move vector D 6 Z dD D a ct_rel_th pose th th mount invert ct flange Move cutter to flange of holder affix cutter to holder moveto ct ct_rel_th affix ct th Example 7 2 illustrates how to construct a tool holder in SIL Developer s Guide 7 13 3 97 Modeling NC Tooling Tool Changer 7 14 The class tool_changer is declared as new_class tool_changer superclass generalize shape mounts array_of mount_point flange frame max_mounts integer for which type mount_point irecord pos frame indx integer holder_type id hold
93. CL record number pam 2 BREAK Developer s Guide 3 97 NCV Input Data Formats oO o a a LL to a gt 10 79 Using First Cut CALL CXCIR or CALL ATPCIR Format integer char char Use Calls to the First Cut Circular Interpolation Macro pam 1 CL record number pam 2 CALL ATPCIR or CALL ATPCIR parm 3 String of characters passing the following ATPPPX ppx ATPPPY ppy ATPPPZ ppz ATPSPX spx ATPSPY spy ATPSPZ spz ATPMPX mpx ATPMPY mpy ATPMPZ mpz ATPEPX epx ATPEPY epy ATPEPZ epz ATPCCX cex ATPCCY ccy ATPCCZ ccz where ppX ppy ppz is the previous point can be 0 0 0 Spx Spy SpZ is the start point mpx mpy mpz is a point on the arc epx epy epz is the end point ccx ccy ccz is the center point CBOX Format integer char float float float float float float Use Defines a stock box using two corners pam 1 CL record number ignored pam 2 CBOX pam 3 5 Box corner no 1 X Y and Z coordinates pam 6 8 Box corner no 2 X Y and Z coordinates 10 80 Soft Machines NCV Input Data Formats COOLNT Format integer char char char Use Specifies coolant flow pam 1 CL record number pam 2 COOLNT pam 3 FLOOD MIST ON or OFF CUTER Fomat integer char float float float float float float float Use Defines the tool 3 pam 1 CL record number k parm 2 CUTTER p 5 pam 3 9 APT cutter parameters d re fab h CYCLE
94. Functions Output Name Conventions on page 10 17 explains how the files are named and Viewing Saved Images on page 10 167 explains how you may display the images on the screen or print them The Enhance when writing image Switch When you switch this on the images in all Geometry Windows are automatically enhanced before the image file is written Using this option any previously unenhanced Geometry Windows will revert to their previous state after the image is saved For example a view that was unenhanced before O Enhance when writing image was selected will be unenhanced when you resume the simulation See The Enhance Switch on page 49 for information on the enhance feature Similarly if you select Write image file from the File menu when the auto enhance mode is active all Geometry Windows will be enhanced before the image file is written but will afterwards return to their previous enhanced or unenhanced state oO a a re to a gt The Record Switch This option is only available in Simulation mode see Simulate Mode on page 9 It records the session for later playback using the playback option see Playback Mode on page 12 The Ignore holder and shaft Switch Developer s Guide 3 97 If you have specified a tool holder in your NC program switching this on will cause the holder and shaft display to be turned off Also there will be no collisio
95. G80 9 Canned Cycle Cancel G81 9 Canned Cycle Spot Drilling G82 9 Canned Cycle Counter Boring Table 8 4 Group numbers for the default G table continued 8 26 Soft Machines Constructing and Customizing G and M Tables Code Gm Description G83 9 Canned Cycle Peck Drilling G84 9 Canned Cycle Tapping G85 9 Canned Cycle Boring A G86 9 Canned Cycle Rapid Boring E G90 10 Absolute Dimension Input z G91 10 Incremental Dimension Input G92 0 Preload Machine Registers G93 17 Inverse Time Feedrate G94 17 Inch or mm min Feedrate G95 17 Inch or mm rev Feedrate G96 17 Constant Surface Feedrate G97 17 Revolution min rpm G98 10 Initial Level Return TRUE G99 10 Initial Level Return FALSE Table 8 4 Group numbers for the default G table continued To customize a G code table we use the procedure add_gcode procedure add_gcode code group integer gcode_closure_id id table array_of g_function where code is the G code number group is the group number gcode_closure_id is an id pointing to the gcode_closure performing the simulation table is the G code table Developer s Guide 8 27 3 97 NC Tasks 8 28 Similarly the procedure add_mcode adds M code closures to an M code table procedure add_mcode code integer task_id id table array_of gcode_closure Example 8 10 shows how add_gcode and add_mcode are used to construct a G code table using both
96. ID E Fomat integer char char D Use Specifies that one or more rapid motions will occur D pam 1 CL record number pam 2 RAPID pam 3 this is optional a RAPID applies to all GOTO points until another RAPID or FEDRAT statement is found Without the star the RAPID applies only to the next GOTO REMARK Format integer char char Use Comment line parm 1 CL record number parm 2 REMARK pam 3 String of characters and spaces Developer s Guide 3 97 10 91 10 92 pam 1 pam 2 pam 3 parm 4 SPINDL integer char char float Rotates the coordinate system to the specified angle around the world space Y axis CL record number ROTABL INCR or ATANGL Specified angle in degrees incremental or absolute Several formats of the SPINDL statement are handled Format 1 Use pam 1 pam 2 pam 3 Format 2 pam 1 pam 2 pam 3 parm 4 integer char char Specifies spindle on or off CL record number SPINDL ON or OFF integer char char float Specifies the spindle speed CL record number SPINDL CLW or CCW Spindle speed in RPM Soft Machines Format 3 pam 1 pam 2 pam 3 pam 4 Format 4 pam 1 pam 2 pam 3 pam 4 pam 5 Developer s Guide 3 97 NCV Input Data Formats integer char float char Specifies the spindle speed CL record number SPINDL Spindle speed in RPM CLW or CCW this is optional integer char char float char Specifie
97. NT pam 3 COLOR pam 4 Color code from following table 1 yellow 2 orange 3 violet 9 4 green 5 gray D 6 blue 5 7 cyan gt 8 pink 9 tan 10 yellow green PPRINT HOLDER NAME Fomat integer char char char Use Specifies the tool holder to be used for a particular cutter The PPRINT HOLDER statement applies to all following CUTTER statements until the next PPRINT HOLDER If no name is specified no holder is used for the affected cutters pam 1 CL record number ignored pam 2 PPRINT pam 3 HOLDER pam 4 Tool holder name optional Developer s Guide 3 97 10 89 Using First Cut PPRINTIMAGE Format Use pam 1 pam 2 pam 3 integer char char This statement tells NCV to create a xwd image file at this point in the program CL record number ignored PPRINT IMAGE PPRINT TRUEC or PPRINT TRUE C Format pam 1 pam 2 pam 3 pam 4 10 or pam 3 4 pam 5 11 10 90 integer char float float float float float float float or integer char char float float float float float float float Defines the tool CL record number PPRINT TRUEC APT cutter parameters dre fab h TRUE C APT cutter parameters dre fab h Soft Machines NCV Input Data Formats PPRINT WIP NAME Format integer char char char Use This statement tells NCV to write a WIP file at this point in the program pam 1 CL record number ignored parm 2 PPRINT pam 3 WIP pam 4 WIP file name RAP
98. Operator 5 15 The moveto Operator 5 16 The imoveto Operator 5 16 The moveby Operator 5 16 IGES Conversions 5 16 Converting IGES Files to Soft Machines Models 5 17 Converting Soft Machines Models to IGES files 5 18 Modeling Examples 5 19 Chapter 6 Modeling NC Machines General Overview of Soft Machines 6 2 NC Simulator 6 2 Developing an NC Simulator 6 4 NC Machine Data Class 6 7 Defining NC Coordinate Systems 6 8 Axes Convention 6 8 NC Coordinates Versus SILSPEC Coordinates 6 10 Defining NC Reference Coordinates 6 11 NC Coordinates in Joint Space 6 14 Determining Simulation Strategy 6 18 Attaching a Tool Library to an NC Machine 6 18 Machine Status 6 19 G and M Tables 6 21 Machine Pendant Panel 6 21 Summary 6 22 Chapter 7 Modeling NC Tooling The Tooling Assembly 7 2 Cutting Tool 7 7 Developer s Guide V 3 97 Table of Contents Tool Holder Tool Changer Tool Library Setting Cutter Offsets Setting Offsets for End Effectors Inverse Kinematics Setting Offsets in Joint Vectors Assigning Additional Properties Collision Detection Material Removal Spindle On Off Chapter 8 NC Tasks Creating SIL Tasks for NC Machines Machine Independent Tasks Machine Dependent Tasks Tool Changers Forward Kinematics Moves Canned Cycles Constructing and Customizing G and M Tables Grouping G Codes Error Logging and Reporting Error Log Recording Movies Chapter 9 Constructing the G Code Translator Architecture of a G Code Translator Converti
99. The PPRINT statement is edited into the APT source file after the CUTTER statement it overrides Alternatively the NCV file can be edited to correct the cutter statement The statement is formatted as follows PPRINT TRUE C d r e f alpha beta h The parameters conform to the APT seven parameter cutter definition convention If a parameter has no value assigned a zero must be used as a place holder Physic al Tool Changes Two conditions are interpreted as physical tool changes A PPRINT TRUE C statement and a CUTTER statement immediately after a line containing one of the following major words LOADTL TOOLNO TURRET or TMARK CUTTER statements that occur in one or more lines after a physical tool change statement but which are not themselves preceded by one of these major words are ignored For example If the first lines of an NCV file contain this sequence CUTTER FROM GOTO LOADTL Developer s Guide 10 65 3 97 oO o a a re to a gt Using First Cut CUTTER FROM GOTO CUTTER then the first and second cutter definitions would be recognized but the third one would be ignored When a physical tool change occurs immediately before a GOTO statement the GOTO is treated like a FROM statement because most machines automatically retract the spindle to allow the tool to be changed Therefore a sequence of statements such as LOADTL CUTTER GOTO x y z i j k will be treat
100. X n FWY n FHZ n must also be specified Multiple fixture definitions can exist in a control file Developer s Guide 10 71 3 97 5 5 oO D ic D D 5 Using First Cut Cutter Default Parameters eo ee 4 d gt CUTTER d C XL r cv 4 d gt CUTTER d r where d 2 r ey lt d gt CUTTER d r where d 2 gt r CUTTER d r e f a b h d diameter r corner radius e e length f f length a a angle b b angle h h height gt X Figure 10 54 Cutter and geometry parameters 10 72 Soft Machines Converting a CL File cltoncv Cutter Default Definition Syntax DEFAULT_CUTTER SPECIFIED DC_D d DC_R r DC_E e DC_F f DC_ALPHA a DC_BETA b DC_H h This statement defines the parameters of the default cutter added to the NCV file when motion is found without a CUTTER statement The default cutter will be used until the next CUTTER statement is found The default cutter is defined by the values DC_D DC_R DC_E DC_F DC_ALPHA DC_BETA DC_H conforming with the APT seven parameter cutter definition convention Cutter Types One type of non standard cutter definition is allowed The fillet radius R is allowed to be greater than half the diameter D For such cutters the A and B angles must be zero and the F parameter must be equal to R Minimum Cutter Diameter Default Syntax MINIMUM_CUTTER_DIAMETERZ
101. _m6 vmc mtable add_mcode 6 deckel_m6 deckel_dz4s mtable 3M To execute the command m6 EF 2 var m6 g_function eee g_status gcode_status 2 5 2D O o For VMC a m6 vmc mtable 6 g_status m6 vmc gcode_stmt For DECKEL_DZAS m6 deckel_dz4s mtable 6 g_status m6 deckel_dz4s gcode_stmt Symbols A symbol is a name Constants variables type names and function procedure names are examples of symbols SIL features symbols that not only name data objects lispobs but are data objects themselves In this way a symbol can be passed to a function procedure as a parameter returned from a function as a value or can be named by another symbol which might be a variable or a constant The SIL data type of all symbols is called id which is short for IDentifier Of course SIL expressions must distinguish between use and mention of an id To make this distinction precede all mentions of an id with double quotes Developer s Guide 2 49 3 97 Object Oriented Programming in SIL 2 50 Soft Machines Chapter 3 Working with SIL Code This chapter explains how to load compile and debug code and how your SIL Protection code is protected Protection In order to keep users from overwriting system code each SIL entity global function task etc is assigned an integer protection level The following global current_authorization controls the
102. _view operator 2 28 ASCII file 3 5 assembly 7 18 assignment statements 1 9 atomic statements 1 9 authorization 3 1 Auto Menu 10 36 Change color at cutter change 10 37 Continuous display of cutter 10 38 Enhance when writing image 10 39 Developer s Guide 3 97 Index Record 10 39 repaint 10 37 Write image at cutter change 10 38 Write image at error 10 38 Automatic 10 143 aux field 7 22 B base_frame field 6 13 base_jv 6 14 Basic Structure for File Formats 10 77 batch file facility 10 21 Bezier curve 5 10 Bezier patch 5 11 bindings early 2 16 late 2 16 block operator 5 13 5 21 block adding 5 13 5 21 boolean type 2 4 2 8 BORE 10 103 BOX 10 79 BREAK 10 79 break pause 3 27 BRKCHP 10 109 bug tracking 3 29 build time 2 21 builds directory 3 10 C C compiler 1 3 c files 3 30 C language arrays 2 18 build time 2 21 calling C code from SIL 3 29 3 38 carrays 2 18 cast primitive 2 21 char type 2 18 crecords 2 17 cstring type 2 19 cstring_constant constructor 2 21 data structures 2 21 INDEX 1 Index data types 2 17 2 21 double type 2 18 erb type 2 17 float type 2 18 3 30 importing C functions 3 30 int type 2 18 3 30 pointer 2 18 records 2 17 short type 2 18 strings 2 19 copying 2 20 creating 2 19 mk_static_Istring function 2 20 null terminated 2 19 printing 2 20 c_import command 3 30 call stack 3 23 CALL CXCIR 10 80 canned cycles 8 18 8 23 disable 8 6 status setting 8 6 cap adding
103. a Soft Machines First Cut Functions three axis file or after a MULTAX OFF statement in a multi axis file Selecting Default axis from the Control pulldown menu displays the Default Tool Axis panel Figure 10 28 The Default Tool Axis panel To define the default tool axis enter the X Y and Z axis vector components The vector does not have to be normalized Reset resets the fields to First Cut s original default axis Cancel dismisses the panel without changing the default axis hn 6 D ic D D The Cutter limits Selection The Cutter Limits panel is used to specify limits to override the programmed minimum and maximum length and minimum diameter Selecting Cutter limits from the Control pulldown menu displays the Cutter Limits panel Min length 0 Max length 100 Reset Min diameter jg OK Cancel Figure 10 29 The Cutter Limits panel Developer s Guide 10 33 3 97 Using First Cut 10 34 The minimum and maximum length and minimum diameter fields specify limits to override the programmed length and or diameter The cutter length and or diameter test is applied to all CUTTER and PPRINT TRUE C statements in the NC program file In wireframe mode the tool axis drawn at each CL point is the length of the cutter So if the minimum or NOTE maximum length is changed and it actually affects any of the cutters the axis lines fo
104. ace 5 8 coordinate system 4 1 6 8 6 18 8 16 axes mapping 6 9 base coordinates 6 13 base_jv 6 14 moving a machine 6 10 multiple work coordinates 6 13 ref shape 6 11 reference coordinates 6 11 reference frame 6 11 rotation 8 5 SILSPEC coordinates 6 10 copy_gtable command 8 7 copy_mtable command 8 7 copyto procedure 2 20 Create fixture 10 28 Create stock 10 23 Creating Multiple Views 10 140 crecord 2 17 crt type 4 5 CSINK 10 112 current_authorization global 3 1 curve adding 5 11 Custom CL File Conversion 10 77 CUTTER 10 81 10 151 Cutter 10 74 Cutter Default Definition 10 73 Cutter Default Parameters 10 72 Cutter Definitions 10 65 Cutter Display Switch 10 139 Cutter limits 10 33 Cutter Types 10 73 cutting tool 7 3 7 4 class 7 7 collision detection 7 29 constructing 7 10 cutter angle 7 7 cutter offsets 7 26 cutter revolution 7 32 diameter 7 7 Developer s Guide 3 97 Index flange 7 7 flute length 7 7 length 7 7 material removal 7 30 models 7 8 retrieving 7 19 spindle 7 32 tip 7 7 7 20 tool holder mounted to 7 11 type 7 7 cutting_tool class 7 7 CYCLE 10 97 CYL 10 82 cyl type 4 6 cylinder operator 5 13 cylinder adding 5 13 5 23 cylinder tabulated 5 7 D d 10 123 data block 9 13 data flow 6 3 data types boolean type 2 8 C data types see C language cchar type 2 18 constructed types 1 6 2 2 cshort type 2 18 cstring type 2 19 defining new 1 12 gcode_info type 9 3 integer type 2 8 2 18 li
105. all C functions imported into SIL must obey the reals last rule which requires real parameters to appear after parameters of other types in the parameter list lrecords or arrays can be used to pass structured data back and forth to C C code may read values from these Irecords and arrays and stuff new values into them as a way of returning structured data Alternatively the types described in C Data Types on page 7 14 may be used to create data structures in SIL which are identical to C data structures and can be freely shared between SIL and C code The only style of sharing which will not work is to attempt to build SIL data structures like Irecords and SIL arrays in C code This is because all structured data in SIL needs to be allocated in a way that is consistent with garbage collection methods in SIL so simple C mallocs will not do SIL integers correspond to the C type int and SIL reals NOJE correspond to the C type double Interfacing to Existing C Code Of course in many applications the task will be to interface to an existing body of C code rather than to write new C code for use with SIL In the former case unless it is very simple wrappers written in C will be needed for transporting data between SIL and the application Sample c and h Files The remaining issue is what C declarations should be given to inputs from SIL SIL provides a facility for automatically generating such declarations Namely when
106. an SLA part model that is to be read in for the as designed part to be compared with the as machined part produced by the simulation The imported part is drawn in dark blue Selecting Read SLA file from the Create stock or Create fixture menus displays the Read SLA File panel Read SLA File Filter ya msource cim bin_sun4 stl Directories SLA Files A Z sim bin_sun4y zim bin_sun4 rapid 6 Le e So te de Selection tinova msource cim bin_sun4 OK Fiter Cancel Figure 10 20 The Read SLA File panel See The Read NC File Panel on page 10 16 for details of how to use the Read SLA File panel Developer s Guide 10 27 3 97 Using First Cut Creating a Fixture Fixtures are created in exactly the same way as stock The Create fixture selections are the same as stock apart from displaying the type as fixture See The Create stock selections on page 10 23 f C Cylinder Profile sweep Read SLA file Figure 10 21 The Create fixture selections Changing the Type of a Model If a model has been incorrectly identified e g as stock when it should have been a fixture the Set type selections can be used to change the model s type Select the model by clicking on it with the left mouse button Select the desired type from the Set type selections Stock Fixture Part Figure 10 22 The Set type selection
107. and playback gt Set up lt Simulate vy Play back Go ToEnd O Slow Stop First Cut Tutorial This area displays the current machining parameters cutter dimensions cutter location and cutter orientation Help This is the message area Figure 10 62 The Metal Removal Window hn 6 D ic D D In this illustration note that the Set up button is toggled This is the mode you are in at the moment We will begin with the setup procedures Developer s Guide 3 97 10 137 Using First Cut Geometry Window Your Geometry Window shows the wireframe stock model and the tool paths for the tutorial part The name of the part is at the top of the frame bordering the window Figure 10 63 A Geometry Window Display of Coordinate System Axes Note that the axes are displayed at the origin and at the top left hand corner of the view This is because the display of the coordinate system axes is switched on Select the Display button from the top of the Geometry Window The Display menu is displayed If you select the LI Show axes switch you can turn the axes display on and off Display Tear off Show axes E Show cutter Shadows Ctrl S Figure 10 64 The Display menu 10 138 Soft Machines First Cut Tutorial Cutter Display Button The UO Show cutter button is used to turn the display of the cutte
108. and examples as follows Soft Machines NCV Input Data Formats y NCV File Format Specifications for Custom CL File Conversion on page 10 77 Major Word Table on page 10 79 CYCLE Words on page 10 97 Sample NCV File on page 10 114 Sample Control File on page 10 117 Sample Stock Definition in NCV File on page 10 118 SLA File Format on page 10 118 G Code Input on page 10 120 CATIA File Input on page 10 124 Tool Holders on page 10 125 VY ONE YE We NES OS OVE ON 5 S a it dD a NCV File Format Specifications for Custom CL File Conversion Basic Structure for File Formats In the NCV file each line contains a major word and parameters The format matches APT The basic structure is M Major words can be upper or lowercase E Major words and their parameters must be separated by blanks slashes or commas E There are no fixed format restrictions on line length or character position E The first parameter in each line is the CL ID it is followed by the major word It is optional The CL ID specifies the line number shown in the CL print Developer s Guide 10 77 3 97 Using First Cut 10 78 To specify the range of points to be verified the CL ID for GOTO and FROM motions must always increase from one line to the next The CL ID need not increase in increments of one Therefore the sequence 10 21 would be valid b
109. anslator G code see G code translator Translucent 10 53 tube operator 5 6 tube adding 5 6 TURRET 10 86 10 96 turret lathe 7 5 INDEX 13 Index Tutorial 10 41 10 132 type definitions 1 16 type_of operator 7 24 lt type gt p type 3 34 U umodules file 3 12 3 20 unary operators 1 8 undefined_sconst 2 23 underflow method for 2 32 universal type 2 13 3 26 Universe coordinate system 4 16 Use entire NC program 10 36 Use playback file 10 21 User 10 7 user defined types 1 6 2 6 Vv V 10 76 variable declarations 1 15 variables 1 8 global 1 11 variants 2 23 version creating a new 3 17 View 10 42 View Selection 10 139 Viewing 10 147 views 2 28 as_view operator 2 28 manipulating 2 28 referential equivalence 2 28 remove_this_view operator 2 28 splice operator 2 29 views function 2 28 Views Menu 10 40 Visual SIL Window 3 13 Volume 10 60 10 151 W wait command 2 42 wait operator 2 38 2 41 waiters queue 2 40 2 41 INDEX 14 while statement 1 10 widgets 2 33 wireframe models 5 13 work coordinate system 8 16 work coordinates 6 18 World 4 16 Write image at cutter change 10 38 Write image at error 10 38 Write image file 10 20 write statement 3 5 Write WIP file 10 19 X xyz geometric type 4 12 Y yaw see geometry yaw pitch roll see geometry Z Zoom 10 44 10 46 Zooming 10 154 Z Y Z Euler angles 4 12 zyz geometric type 4 12 Soft Machines
110. appsol can then be used in the Product Administration panel by first editing the file cim options versions and adding the line lt module gt lt version gt REMINDER A module should be listed only once Dependency Management Soft Machines has a mechanism for handling dependencies between modules build areas which ensures that dependent and supporting modules are included during product creation Modules o eae to 0 eS l mee ow Two files can be created and placed in the cim build lt mybuild gt directory to supply information about any dependencies in the mybuild build area These two files are supmodules This file specifies the build areas that must come before the mybuild build area when creating a product comodules This file specifies the build areas that must also be included when the mybuild build area is included in a template when the order is unimportant Both supmodules and comodules have the same syntax Modules listed in the supmodules file within the cim build lt mybuild gt directory will be linked in before the mybuild build area during product creation A simple example of a supmodules or comodules file is machine paint paint14 arc Developer s Guide 3 19 3 97 Working with SILCode 3 20 In this example no version is specified for machine Therefore the current version for machine will be used listed in cim silspec versions For paint paint14 is indicated S
111. ata format of the type to which it is being cast Another restriction is that a record cannot be cast to an Irecord nor an Irecord to a record SIL Constants All SIL definitions have internal representations called sconsts SIL constants An sconst is like a descriptor which contains type name and value fields for the defined object Because SIL is a polymorphic language a single id x can be the name of several sconsts However only one of these sconsts can represent a non function type This sconst is the data variant of x the other sconsts are the function variants of x The following operators help locate an sconst using an id function data_variant x id sconst function has_data_variant x id boolean function function_variants x id list of sconst function has_function_variant x id boolean 2 22 Soft Machines Polymorphism Because two function variants with the same name must have distinct input types a name and a list of input types uniquely specify an sconst for a function variant We can fetch this sconst with function find_variant x id intps list of ntype sconst More generally an id and a type specify an sconst which can be fetched by function find_variant x id tp ntype sconst Object Oriented 72 D E E D a If there is no variant of the indicated type a special sconst undefined_sconst is returned To test for undefined_sconst
112. atically at the point of error gt Cutters are either APT 7 parameter cutters or free form solids of revolution Holders may be modeled as solids of revolution gt Material removed by each cutter can be automatically displayed in a different color gt During simulation machining parameters feedrate spindle speed coolant flow rapid motion warning are dynamically displayed gt The cursor can be used to point to any location on the model to determine the precise coordinates the surface normal vector the material thickness the motion responsible for the cut and the cutter used to make the cut gt Screen images can be saved at any time during simulation and reviewed later as either a screen snapshot or a hard copy whichever is more convenient gt A series of simulations can be run as an unattended batch and the individual simulations can then be replayed in fast mode with features to step forward and backward through the simulation Soft Machines Introduction to First Cut gt ASCII or binary format SLA files can be read and the Developer s Guide 3 97 geometry from the file can be created as part fixture or stock Stock and fixture models can also be created interactively An as designed part from an SLA file can be graphically compared to the machined part the as designed part is displayed translucently and overcuts and undercuts are highlighted The total machining time and the machining t
113. ation about x followed by a rotation about y followed by a rotation about z yaw pitch roll will not produce the same orientation as a Soft Machines Orientation rotation about Z then about Y then about X roll pitch yaw Figure 4 10 shows the difference between a yaw pitch roll of 90 90 90 and a roll pitch yaw of 90 90 90 Roll Pitc h Yaw 90 90 90 ee goa row eye Oe Y a a X Z REF X REF 9 REF Z XREF YREF a REF Y REF Yaw Pitc h Roll 90 90 90 ye Pes as a YZ ae S Z aa Z REF x REF REF X Wa REF a REF Y REF 8 Be 3g E Be 2 Figure 4 10 Roll Pitch Yaw vs Yaw Pitch Roll For mnemonic reasons the rotations will always be performed in the order in which they are specified Because X Y Z is a familiar order yaw pitch roll is only used in Soft Machines for rotations about the fixed axes of the reference frame copy Because all three rotations are defined relative to the same initial frame orientation these rotations are relative to fixed axes This is a key point since Euler angles are rotations which are not relative to fixed axes The geometric type provided by SIL for describing yaw pitch roll orientations is ypr yaw pitch roll You may construct a yaw pitch roll orientation with the command mk_ypr lt yaw gt lt pitch gt lt roll gt Developer s Guide 4 11 3 97 Geometry in Soft Machines Euler Angles Euler pronounced oiler angles are named after a Swiss mathematicia
114. ation from the Modes menu to restore the original image 10 52 Soft Machines First Cut Functions The Translucent Switch The stock and fixtures can be displayed translucently in simulation mode including while the simulation is running This is especially useful for watching the machining of holes and deep pockets and of features on the back of the part To toggle this mode on and off use the D Translucent switch in the Modes menu View Dynamic Fit Colors Display Modes Measure Figure 10 46 Switching on O Translucent Developer s Guide 3 97 10 53 hS 5 Oo ra a ix D a Using First Cut The Reset Selections To restore the default viewing options for sectioning rotation zooming or lighting select the Reset button from the Modes menu This displays the Reset menu Modes Tear of fF Enhance Section Alt S 1 Compare Rotate Alt R Translucent Ctrl T Reset Reset Tear off Reset all Alt A Reset section Reset rotation Reset zoom Reset light Figure 10 47 The Reset menu Selection Description Reset all Resets sectioning rotation zoom and light source Reset section Restores the full view of the part Reset rotation Returns the view to its original orientation Reset zoom returns the view to its original unzoomed state Reset light Returns the light source to its default direction Table C 1 Reset selections 10 54 Soft Mach
115. bled and the SIL gt prompt is displayed in the shell window you used to start the session When an error occurs while running SIL in Text Mode an error message is printed along with the following prompt instead of the SIL prompt Error gt The Error gt prompt indicates that an error break has occurred During an error break any SIL command is legal In addition the call stack becomes accessible for examination The call stack is a data structure which describes the function which was running when the error occurred and the sequence of function calls which led to the function invocation The call stack also contains the values of all local variables in the functions on the stack o eae to O a ow Developer s Guide 3 23 3 97 Working with SILCode This SIL command is used to examine the stack by printing a trace back Error gt tb Example 3 10 shows a typical function function call error message and trace back 3 24 Soft Machines Debugging 23 D O O ae ow The numbers in the 0 column are the indices of the stack frames and are called frame numbers These numbers are used to refer to frames in commands described in the succeeding pages The values of all local variables including parameters are printed parameters however are labeled ARG In Example 3 10 the frames numbered 0 1 2 and 5 designate system functions while 3 and 4 are the frames of the user functions
116. built in and custom gcode_closures Example 8 10 Add built in G codes add_gcode 4 0 g4 kt_gtable add_gcode 17 2 g17 kt_gtable add_gcode 18 2 g18 kt_gtable add_gcode 19 2 g19 kt_gtable add_gcode 28 0 g28 kt_gtable add_gcode 40 7 g40 kt_gtable add_gcode 41 7 g41 kt_gtable add_gcode 42 7 g42 kt_gtable add_gcode 61 15 g61 kt_gtable add_gcode 62 15 g62 kt_gtable add_gcode 63 15 g63 kt_gtable add_gcode 64 15 g64 kt_gtable add_gcode 70 6 g70 kt_gtable add_gcode 71 6 g71 kt_gtable add_gcode 90 3 g90 kt_gtable add_gcode 91 3 g91 kt_gtable add_gcode 93 5 g93 kt_gtable add_gcode 94 5 g94 kt_gtable add_gcode 95 5 g95 kt_gtable add_gcode 96 17 g96 kt_gtable add_gcode 97 17 g97 kt_gtable Program Delay XY Plane ZX Plane YZ Plane Reference Point Return Home Radius Compensation Off Cutter Compensation Left Cutter Compensation Right Exact Stop Mode Corner Override Mode Tapping Mode Cutting Mode Inch Programming mm Programming Absolute programming mode Incremental programming mode Inverse time feedrate Feed per min Feed per rev Constant surface feed Constant surface feed cancel continued on next page Soft Machines Error Logging and Reporting 9 N H S z Enor Lo
117. c_tdata Since universal is a supertype any SIL objects can be legally cast to a universal Besides ordinary data functions and procedures can also be attached by using SIL closures allowing us to incorporate special Soft Machines Setting Cutter Offsets routines for manipulating tool data see Example 7 6 In fact tool models can be generated automatically by adding modeling functions to D Ss o o Z jo2 i any tool library 3 Setting Cutter Offsets Chapter 6 Modeling NC Machines explained how to set NC coordinate systems by constructing empty shapes move handles reference shapes and affixing them to different subparts of the machines or by defining a set of joint vectors as references for forward kinematics moves In addition to machine and work coordinates an NC simulator must deal with the properties of the tooling used Most importantly tool lengths and other cutter offsets must be handled correctly to generate an accurate cutter path We have already discussed how to add tool parameters to a tool library This section shows how these parameters can be used to affect an NC simulation Developer s Guide 7 25 3 97 Modeling NC Tooling Setting Offsets for End Effec tors Inverse Kinematics The simplest method for setting cutter offsets is to position the move handle at an offset specified by the tool parameters Usually the offset is set to be the vector be
118. calls_blow_up and blow_up The tb command works for both interpreted and compiled code When it is used with compiled code however only function names and not local values are available To see the values of local values in the compiled code for a function we can patch in its source code and the local values for that function will be available to tb and other stack examination facilities This means we do not need to regenerate the error using interpreted code to see local values patching the function into the existing error break is adequate Developer s Guide 3 25 3 97 Working with SILCode 3 26 If tb is given an integer argument only the specified number of frames above the debug frame will be printed For example the following tb command with its argument would only print frames 4 and 5 from Example 3 10 Error gt tb 2 The command Error gt __ tbn is identical to tb except that it prints no local or parameter values Example 3 11 illustrates the use of the ton command The following command returns the value of the given variable in the given frame as a universal Error gt ev lt variable name gt lt frame numbers For example The debug_frame variable is initially set to the frame number of the function in which the error occurred The following commands are equivalent Error gt _ _ev lt variable names Error gt evw lt variable name gt debug_frame Soft Machines Debuggi
119. cation relative to its pose When you manipulate objects you only need to be concerned with their poses NOTE Poses on page 4 16 describes poses Shape To simulate objects in a three dimensional space Soft Machines manipulates a data structure in which all simulated objects are represented by a type called shape To handle multiple shapes Soft Machines arranges all shapes in the simulated world in a tree structure The root of this tree is a special shape which lacks any associated geometry and is called world Frame Soft Machines provides a special kind of shape called a frame which is used primarily for teaching desired positions of objects e g Via points in a path along which another shape will move The geometry of a frame shape is shown on the right hand side of Figure 4 1 one axis looks like an X one like a Y and the Z axis looks like a pointer Because a frame is also a kind of shape it has a pose which lies coincidently with the frame s geometry Frame Pose d Figure 4 1 Coordinate frames Soft Machines Understanding Soft Machines Geometry Geometric Units To specify positions and orientations you need a way of specifying lengths and rotations The default unit for length in Soft Machines is centimeters All other units of length are based on this default and are easily defined Some units of length are already pre defined as global constants in Soft Machines They are inch 2 5
120. causes an incremental move along or about the axes of the World coordinate frame not the axes of the lt model gt s reference frame moveby lt model gt lt increment gt IGES Conversions 5 16 Although you use the CAD Interfaces panel displayed by selecting Import Export from the Modeling pulldown menu for your IGES to Soft Machines or Soft Machines to IGES conversions you can also do so using SIL language commands IMPORTANT You must have the IGES interface installed in your product Soft Machines IGES Conversions Converting IGES Files to Soft Machines Models You may convert IGES model files to Soft Machines models with the iges_to_model function The variants for this function are listed below There are four variants for the iges_to_model function lt filename gt is a string giving the pathname of the IGES file to be converted lt model name gt is a string which names the converted model lt level list gt is an integer list specifying the levels of the IGES file to be converted iges_to_model If you do not specify a lt filename gt in this variant Soft Machines will prompt you for it If you specify a lt filename gt the converted model receives the product identification name from the globals section of the IGES file and Soft Machines processes all IGES entity levels iges_to_model lt filename gt iges_to_model lt filename gt lt model name gt lt level list gt This varia
121. cess file Selecting Write WIP file from the File pulldown menu displays the Write WIP file panel File name tutorcl wip OK Cancel Figure 10 13 The Write WIP file panel Enter the desired file name and select OK If the file already exists you will be asked whether to over write it Developer s Guide 10 19 3 97 Using First Cut 10 20 The work in process file contains the following information e Number of Geometry Windows e Size shape and orientation of the stock and fixture in each Geometry Window e Solid work in process model in each Geometry Window The work in process file does not contain the following information e Any dynamic graphics display information such as zoom rotation or section states e NC program You can write multiple work in process files during a single simulation session NOTE Arn average file size is 5 megabytes The Write image file Selection The Write image file selection in the File menu is used to create a snapshot of the current screen image You can create an image file using this button at any time in a simulation session Image files can also be generated using Auto options described in the section on Auto Menu on page 10 36 The image files are X Window xwd files and may be viewed and printed using standard X Windows utilities A description of how to use the utility is provided in Viewing Saved Images on page 10 167 Yo
122. claration e Type definition e Procedure definition e Function definition Globals The syntax for defining a new global variable or re defining an old global is lt variable gt lt term gt Developer s Guide 1 11 3 97 o lt fe 2 3 fe b D d S Intoduction to the SIL Language This statement assigns the value of lt term gt to lt variable gt even if lt variable gt was not previously declared or was assigned a value of a different type Types To define new data types use the following syntax type lt type definition gt lt type definition gt where lt type definition gt lt type name gt lt type gt In this case lt type gt is a term which evaluates to a data type Notice the extra semicolon at the end of the declaration This tells the interpreter not to expect more type definitions Soft Machines The SIL Runtime Model is oO of c o oop mm oOo 8 5 O 2D is Functions and Procedures The format of function and procedure definitions follows Pascal syntax illustrated in Example 1 10 Developer s Guide 1 13 3 97 Intoduction to the SIL Language 1 14 Soft Machines The SIL Runtime Model is 0 of G c o dp E oOo amp 5 O F7 The primary difference between a procedure and a function is that a function re
123. clearance specifies a start position below the control point it does not cause a reverse operation The clearance value must always result in a position at or above the cycle depth or first cycle step Soft Machines NCV Input Data Formats Common Options There are options available to cause additional processing at each point These options must follow the general syntax i e after the depth feedrate and clearance parameters and can be coded in any order Not all options apply to all cycle types Check the individual cycle type description for allowed options L RAPTO depth The RAPTO option is used to cause an additional rapid positioning operation at each point in the cycle This option is used when performing any cycle where an additional move at high speed is desired to move the tool tip from the clearance plane to the start of the hole for example when performing cycle operations on points which are below the surface of the part and which can be approached at high speed such as a counterbore oO o a a re to a gt Normally the tool tip is positioned to the clearance plane of each point and the cycle feedrate motion is performed from the clearance plane to the cycle depth When the RAPTO option is used an additional positioning move will be made from the clearance plane the length of which is specified by the RAPTO depth value seconds DWELL REV revolutions
124. controller our task scheduler would process the part program as follows 1 Divide program statements into 2 sets one for each turret 2 Divide each set into nev_sync_blocks one for each block number Developer s Guide 9 13 3 97 Constructing the Q a N c d o ao fo 8 9 Constucting the G Code Translator 3 For both turrets execute concurrent sync blocks 9 14 Soft Machines Subroutines and Synchronized Cutting Constructing the O fe o Z G d H o 3 fe S 0 Developer s Guide 9 15 3 97 Constucting the G Code Translator 9 16 Soft Machines Subroutines and Synchronized Cutting NC PART PROGRAM 0001 N0001G13 N0002G90G71T10M6P0010 Turret 1 N0003G0X80000Z10000M08 N0004G14 NOOO5T6M6P0010 N0006G0X70000Z15000M08 Turret 2 N0010G13 N0020M10M04P0020 N0040G1X75750Z10000F 1000 Turret 1 N0200G14 N0210G1X57000Z15000M10P0020 N0220Z 60000F1000 N0230X67000Z 70000 Turret 2 o5 E5 N0300G14 aao N0310G1Z50000F1000P0030 56 N0320G0Z120000 Turret 2 N0330G13 50 N0340P0030 Turret 1 aD N0350G13 oO N0360M09M05M11P0040 Turret 1 OG N0370G14 N0O380P0040 Turret2 N9999M30 TURRET 1 G13 TURRET 2 G14 Start Block 10 P10 Start Block 10 P10 N0002G90G71T10M6P0010 NOOO5T6M6P0010 N0003G0X80000Z10000M08 N0006G0X700002Z15000M08 Start Block 20 P20 Start Block 20 P20 N0010G13 N0210G1X5700
125. ction should be deleted or archived This especially applies to work in process files which consume a great deal of disk space Core files from system crashes are also large and should be removed immediately Developer s Guide 10 63 3 97 Using First Cut 10 64 Dithering First Cut dithers its shaded images This eliminates the color bands on objects and makes them appear as smooth as they actually are An advantage of this scheme is that First Cut can get by allocating fewer colors from the global colormap if necessary and conversely it can take advantage of more colors if they are available There are two costs associated with dithering The first is a performance penalty of a few percent The other is the fact that surfaces have a slightly textured appearance In normal circumstances i e if First Cut can allocate most of the colormap the texturing is so subtle as to be invisible However if First Cut can only allocate a few colors the texturing is more noticeable If the texturing is objectionable and a clearer view of the part is desired you can save either a WIP file or a playback file restart First Cut with more colors by first killing other applications and redisplay the files The images will be redithered with more colors and less texture This trick does not work with xwd files since they are simply records of the pixels on the screen after dithering has been done At one time if First Cut couldn t allocate en
126. d integer description string dia real loc real corner_radius real preset real end kt_moduline_tool_data array mk_kt_tool_data 1 1718120 END MILL 2 4 0 120 8 25 mk_kt_tool_data 2 1724001 END MILL 2 6 0 12 125 mk_kt_tool_data 3 0643931 BALL MILL 0 75 2 25 0 375 6 25 mk_kt_tool_data 4 0614931 BALL MILL 0 5 2 0 25 4 92 mk_kt_tool_data 5 1111110 SPECIAL 2 0 0 9 mk_kt_tool_data 6 1551004 END MILL 0 25 0 63 0 9 06 mk_kt_tool_ data 7 0155001 FACE MILL 6 0 71 0 5 49 mk_kt_tool_data 8 1680001 END MILL 1 5 2 00 0 6 25 mk_kt_tool_data 9 1633001 END MILL 0 75 2 25 0 375 6 25 0 375 mk_kt_tool_ data 10 2525911 DRILL 25 2 750 0 5 870 mk_kt_tool_data 11 0025004 END MILL 188 500 0 8 930 continued on next page Soft Machines Tool Library Example 7 5 continued mk_kt_tool_data 12 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 13 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 14 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 15 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 16 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 17 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 18 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 19 0 EMPTY POCKET 0 0 0 0 mk_kt_tool_data 20 0 EMPTY POCKET 0 0 0
127. ded by SIL for describing X Y Z Euler angle orientations is xyz X axis Y axis Z axis You may construct an X Y Z Euler angle orientation with the command mk_xyz lt rotx gt lt roty gt lt rotz gt As with yaw pitch roll the order in which the rotations are performed is crucial in describing orientations using either set of Euler angles Soft Machines Orientation Equivalent Angle Axis One of Euler s theorems states that any orientation may be achieved with an appropriate rotation of the frame about a general axis through the origin of the reference frame copy This is called the equivalent angle axis rotation The equivalent axis of rotation may be represented as a unit vector from the origin of the reference frame copy The formula for finding a unit vector from a set of XYZ Cartesian coordinates through which the positive axis of rotation passes is bal a u where u is the desired unit vector a is the Cartesian point in vector form and a is the vector magnitude of a For instance a unit vector through the Cartesian point 1 1 1 is ELL 333 A unit vector through the point 1 2 0 is 5550 A unit vector along the X axis is simply 1 0 0 The equivalent angle axis representation is constructed by multiplying the unit vector of the equivalent axis by the equivalent angle The geometric type provided by SIL for describing equivalent angle axis orientations is aax equivalent angle axis Yo
128. der LOADTL TOOLNO TURRET TMARK GOHOME STOP on page 10 86 Developer s Guide 3 97 10 85 Using First Cut GOTO Format pam 1 pam 2 pam 3 5 pam 6 8 NOTE integer char float float float float float float Specifies the next tool motion Note that if MULTAX is OFF further parameters are treated as more points e g GOTO X1 Y1 Z1 X2 Y2 Z2 CL record number GOTO X Y and Z I J and K components of tool axis The I J and K components are used only when MULTAX is ON LOADIL TOOLNO TURRET TMARK GOHOME STOP Format Use pam 1 pam 2 NOTE 10 86 integer char Specifies that a physical tool change will occur CL record number LOADTL TOOLNO TURRET TMARK GOHOME STOP If a physical tool change is followed by a GOTO statement this GOTO statement is treated like a FROM statement as the NC Verification software assumes that the spindle was retracted to allow the tool change After the first occurrence of a physical tool change statement the only CUTTER statements that are recognized are those preceded by one of the above major words all other CUTTER statements are ignored PPRINT TRUE C statements are always recognized Soft Machines MULTAX Format pam 1 pam 2 pam 3 NSIDES Format pam 1 pam 2 pam 3 pam 1 pam 2 pam 3 Developer s Guide 3 97 NCV Input Data Formats integer char char Specifies whether the I J and
129. different functions such as cutting and pasting text which are defined by the operating system Uncompiled SIL code is executed by a fast pseudo code based interpreter It is possible to compile SIL code also to do this the code is translated first into C and then to binary using the host machine s C compiler The performance of compiled SIL code is similar to that of corresponding code written directly in C or Pascal Interpreted and compiled code may be freely mixed compiled functions may be replaced at will by modified interpreted variants allowing fast bug fixing and testing The SIL Window can be used to enter SIL language commands while retaining access to the menus and panels The SIL Window is displayed under the Graphics Window Figure 1 2 The SIL Window Developer s Guide 1 3 3 97 Introduction to the SIL Language You can also change to Text Mode to enter SIL language commands In Text Mode you have full editing capability and direct access to the operating system Change to Text Mode by selecting Exit Menus from the File pulldown menu The menus are disabled and the SIL gt prompt is displayed in the shell window that you used to start Soft Machines Sil gt function plusx y list of integer list of integer begin plus append x y end PLUS ok Sii Diet 2 3 Ilsti4 5 8 LIST 1 2 3 4 5 6 Sil gt J Figure 1 3 Shell window example Enter menus at the SIL gt prompt to res
130. e gwindow is the input statement display window block_no is the block number gc_list is a list of gcode_info contained in the current block Using nev_sync_block part program statements can be divided into data blocks A data block can contain a G code subroutine Program statements belonging to separate turrets in a multiple turret machine can be separate and stored in difference nev_sync_blocks Example 9 4 shows the default task scheduler in Soft Machines Example 9 5 shows how nev_sync_block is used to implement subroutine calls nev_sync_block can be employed in the simulation of synchronized cutting for turning machines with multiple turrets In a typical case synchronized cutting is conducted as follows Multiple turrets usually 2 upper and lower performed machining simultaneously Turrets synchronize by running blocks of G code statements concurrently one block for each turret E If one turret completes a block ahead of the other turrets it waits until all turrets complete their respective data blocks All turrets start the next data blocks at the same time Figure 9 2 Synchronized cutting on page 9 17 presents a schematic view of a typical part program for synchronized machining In this example the G codes G13 and G14 select the turrets and the P parameter marks the number for each synchronized block blocks with the same number are executed concurrently To mimic the behavior of the
131. e 4 6 Spherical coordinates Use the type sph to construct a spherical position using this command and syntax mk_sph lt rad gt lt Ing gt lt lat gt 8 os F Og Developer s Guide 4 7 3 97 Geometry in Soft Machines Orientation Orientation is a property of objects that describes how the object s frame is aligned relative to a reference frame Orientation is specified in terms of rotations of the object s frame about the axes Reference Frame Reference Frame Copy Z 2 Z obj Y obj x y X obj Figure 4 7 Orientation With the two frames initially coincident the rotations are performed in a specific order to arrive at the stated orientation Using a copy of the reference frame is important to prevent inadvertent position changing That is if the rotations are conducted about the axes of the reference frame itself the position and the orientation will change Figure 4 8 Frame rotated about Y axis 4 8 Soft Machines Orientation Using Soft Machines there are three main ways to specify the rotations that describe the orientation of a frame E Sequential rotations of the frame about the fixed X Y and Z axes of the reference frame copy called yaw pitch roll E Sequential rotations about the X Y and Z axes of the frame s new orientation after each successive rotation called Euler angles E A single rotation of the frame about a generalized axis pointing out from the origin of the
132. e Scheduler is active whenever tasks have been started or called In Text Mode the Scheduler is NOTE activated only by explicitly calling a task or executing the following command run The start command may be used at the top level or within a task Use the run command only at the top level Soft Machines Concurrency Object Oriented 7 sS to S E E nS DS e a Tickers Tickers are instantaneous commands that run at regular intervals during a simulation Care must be taken when writing a ticker if it is computationally intensive or runs too often the simulation may slow considerably Tickers are useful for gathering data during a simulation and for applying rules and laws to the simulated environment This function constructs a ticker which runs an application at the given interval of the simulation clock function mk_ticker app application intv real ticker where app is an application to run and intv is the time interval at which to run NOTE Applications are described in Applications on page 9 11 Developer s Guide 2 37 3 97 Object Oriented Programming in SIL These procedures start and stop a ticker procedure activate tck ticker procedure deactivate tck ticker Semaphores The basic synchronization mechanism in SIL is the semaphore Other methods of synchronization such as pipes and process lines are available but th
133. e and its versions but the usual convention is lt module name gt with a version being named lt module name gt lt version gt For instance the fifteenth version of the module geom is called geom15 Soft Machines Code Organization The Cim Tree Stucture The following sections describe the major subdirectories of cim cim templates This directory contains all the Soft Machines products A product contains an executable version of a Soft Machines state Usually a product is started by using the Product Administration panel which is displayed by entering sspa in a shell window To start the product lt product gt you can also use the following commands in a shell window cd cim templates lt product gt start Each product contains a umodules file The umodules file specifies which modules are included in the product and which versions of those modules should be used fe o ae to 0 lt a o z Each line of the umodules file contains a module name followed by a version name For example the umodules file of a product might consist of the two lines Example 3 7 conveyor conveyor2 press press3 This signifies that version 3 of the press code is to be included in this product cim sil lt modules gt All SIL code resides in this directory The notation lt modules gt indicates that there is one subdirectory of cim sil for each code module Developer s Guide 3 9
134. e clevis st1 and click OK Developer s Guide 3 97 10 161 Using First Cut After the file has been read you will see the as designed part superimposed in blue on the wireframe stock and model Figure 10 93 The as designed part Run the Simulation for the Comparison Select Simulate and then Go 10 162 Soft Machines First Cut Tutorial Compare the As Machined Part with the As Designed Part When the simulation is complete select the Modes button in your Geometry Window which displays the following menu Enhance Section Alt S Compare Rotate Alt R Translucent Ctrl T Reset gt Figure 10 94 The Modes menu Switch on J Compare First Cut will translucently overlay the imported as designed model on the newly created as manufactured model ny 6 od D i D D View Dynamic Fit Colors Display Modes Measure Figure 10 95 Comparing the as machined part with the as Developer s Guide 10 163 3 97 Using First Cut designed part Undercuts where material according to the design part should have been cut away but hasn t are highlighted in blue For example in the tutorial part you will see a hole highlighted in blue this is in the design part but has not been cut in the manufactured part Overcuts or gouges where material should not have been cut away are highlighted in red You will see one gouge highlighted in this fashion
135. e cutter name with no leading white space Coordinate lines begin with white space a blank or a tab they are defined below Blank lines and comment lines beginning with are ignored Each coordinate line defines either a point or an arc Soft Machines NCV Input Data Formats Two consecutive point lines implicitly define the line segment between them Two point lines with an arc line between them define the circular arc between them Each arc line must be preceded and followed by point lines Point lines are of the form xy Arc lines are of the form arc xc ycr where xc yc is the center of the arc and r is its radius Arcs are always taken to be less than 180 degrees To create an arc of exactly 180 degrees it should be split into two arcs The points of the profile are specified in bottom to top order Their Y coordinates must be non decreasing 5 S 7 i D S D 5 The 0 0 point of the profile s coordinate system is mapped to the CL point during simulation and the Y axis is mapped to the tool axis The first and last points of the profile must have X coordinate 0 in general the first point will be 0 0 Form cutters are not affected by the Cutter Limits dialog Developer s Guide 10 129 3 97 Using First Cut First Cut Tutorial 10 130 View Dynamic Fit Colors Display Modes Measure Figure 10 56 First Cut Tutorial This section demonstrates basic First Cut product function
136. e d data file the offset retrieved is undefined For example if DO09 were used in the input file and the file had only five lines then the offset retrieved is undefined h data This file contains cutter offset data It is required only if H codes are used If the file is required but is not present then NCV will stop reading the input file at the point the H code is seen Developer s Guide 10 123 3 97 Using First Cut 10 124 The file contains one H register value per line Indexed by H codes first line is HO1 As for D codes if an H code is used in the input file that is out of the range of values in the h data file the offset retrieved is undefined g wcs This file is not required unless the input uses Work Coordinate System offsets The file contains up to 6 lines Each line contains the X Y and Z offsets blanks line 1 line 2 line 3 line 4 line 5 line 6 of the corresponding Work Coordinate System separated by Work Coordinate system 1 G54 Work Coordinate system 2 G55 Work Coordinate system 3 G56 Work Coordinate system 4 G57 Work Coordinate system 5 G58 Work Coordinate system 6 G59 If the g wes file is required but either does not exist or is accessed using an out of range index then the coordinates default to 0 0 0 CATA File Input NCV accepts CATIA files The following points should be observed When running the CATUTIL utility that creates the APT file you
137. e data from the RAPID and FEDRAT statements encountered during simulation The feedrate value and units are displayed as IPR inches per revolution IPM inches per minute MMPM millimeters per minute or MMPR millimeters per revolution If no feedrate value was specified in the NC program file the field is blank During a RAPID motion the field displays the word RAPID After a RAPID the field displays the feedrate that was most recently set prior to the RAPID When a feedrate is in effect a white cutter is displayed in wireframe and a beige cutter in solid If the motion is rapid the cutter will turn red and the display will say RAPID also stock cuts will be flagged as errors Three conditions can make a motion rapid Use of the RAPID statement Developer s Guide 3 97 10 13 Using First Cut 10 14 e A feedrate higher than the MAX_FEED parameter in the control file this is only relevant to file being converted by the cltonev program which uses the control file e A feedrate higher than the maximum specified in the Max Feedrate dialog Coolnt This field displays the data from each COOLNT statement encountered during simulation jo Displays the diameter of the current cutter pu Displays the corner radius of the current cutter I Displays the height of the current cutter CL ID Displays the CL ID of the current point X Y Z Displays the location of the cutter IJ K
138. e three types of terms in SIL constants variables and function applications Other examples of function applications include infix operators which use the form lt term gt lt operator gt lt term gt Other examples include special syntax for accessing fields of records and components of arrays as illustrated in Example 1 3 Soft Machines The SIL Runtime Model Satements Generally a statement alters an environment Statements can be grouped into atomic statements and compound statements is oO of c o dD mm Oo 0G 5 O S5 Atomic statements are assignment statements and procedure calls Compound statements are built up from atomic statements using statement constructors There are three categories of statement constructors conditionals and case statements sequences and iterations Sequences are groups of statements that are combined into a single statement by bracketing them between the key words begin and end Conditional statements are in the form of IF statements see Example 1 5 or case statements shown in Example 1 6 Developer s Guide 1 9 3 97 Intoduction to the SIL Language There are several types of iteration statements repeat while and for The repeat and while statements behave similarly 1 10 Soft Machines The SIL Runtime Model Definitions SIL uses five categories of definitions e Global variable definition e Variable de
139. e_info gcode_stmt gcode_stmt gcode_stmt SIL TASKS g17 vmc gcode_stmt 7 g99 vmc gcode_stmt g90 vmc gcode_stmt g94 vmc gcode_stmt A er ara vmc_g49 vmc gcode_stmt vmc_m6 vmc gcode_stmt Figure 9 1 G CODE READER vmc tanslator vmc_gcode_read NC TASKS SC HEDULER vmc_do_nc_tasks vmc gcode_stmt vmc_do_nc_tasks vmc gcode_stmt vmc_do_nc_tasks vmc gcode_stmt L a gtable mtable ya vmc_g0 mo vmc_g P m1 7 gl17 vmc_m6 g18 Data flow for a G code translator Soft Machines Converting G Code into SIL Data Type A G code translator consists of 1 A reader that converts each G code statement into the SIL data type gcode_info 2 A task scheduler that E reads the gcode_info date type and calls out the relevant task closures from the G and M tables executes the tasks closures corresponding to each part program statement Developing the G code translator is the last step in the completion of the development of the NC simulator Converting G Code into SIL Data Type Constructing the fe a N c d o e 8 9 gcode_info Data Type In Soft Machines all G code statements are represented internally using the data type gcode_info type gcode_info lrecord gcode array_of integer mcode list_of inte
140. eate a new modules file and write it to your product area All the components of the application solution will be included in this newly created modules file Various initialization files and start_up msg will also be copied from the application solution MYPROJECT1 0 to your product area Patc hing in Interpreted Code SIL allows interpreted versions of functions to overwrite their compiled versions For instance suppose that a function teds_function has been compiled into a product If we wish to test a modification to this function we can load or paste in a new version of code for the function and the new code will take effect immediately That is whenever teds_function is called by any other function in the system whether compiled or interpreted it is the most recently loaded version that is called not the original compiled version The process of overwriting compiled with interpreted code for a function is called patching the function The ability to patch code is very useful since it allows code to be enhanced tested and debugged without going through a compile and link cycle 3 22 Soft Machines Debugging Debugging Whenever possible debugging should be done with Soft Machines in Text Mode Catching errors while still using the menus and panels is discussed at the end of this section Text Mode is obtained by selecting Exit Menus from REMINDER the File pulldown menu In Text Mode the menus and N panels are disa
141. ecords universals can be constructed either by using the automatically defined constructor mk_universal or by using as_type universal is most useful if you need to figure out the type of a SIL data object as illustrated in Example 2 4 Developer s Guide 2 13 3 97 Object Oriented Programming in SIL Example 2 5 shows how to store and retrieve data of different types using universals 2 14 Soft Machines Advanced Data Types Example 2 5 continued The aux field gives us the flexibility of attaching tooling data of different formats to the tool library For example the tooling data for a vertical machining center vmc is contained in an array of type vmc_tdata We can retrieve the tooling data from the variable vmc_tlib type tool_lib as follows var atod darray of vmc_tdata if type_of vmc_tlib aux type_of atod then atod vmc_tlib aux as_type darray of vmc_tdata else writeln Tool lib contains the wrong data type Object Oriented 7 to E E nS DS e a Note that we can first validate that the field vmc_tlib aux contains the correct data type before we cast the tooling data from universal to vmc_tdata Applying Procedures To write a dispatch procedure using universals we need to use the apply operator to apply the appropriate assemble procedure function apply op id arg1 arg2 universal where op is the name of an operator and arg1
142. ed 10 69 10 70 Stock Definition 10 69 Stock Profile Sweep 10 70 STOP 10 86 10 94 Stopping 10 146 string type 2 4 2 8 3 34 strings 2 4 C strings 2 19 comparisons 2 5 concat_onto procedure 2 6 conversions 2 5 copy function 2 6 cstring type 2 19 cstrings copying 2 20 creating 2 19 printing 2 20 equal function 2 6 find function 2 6 float2Istr function 2 6 integer_to_string command 2 5 length 2 5 lowercase operator 2 6 INDEX 12 Istr_to_str function 2 6 Istrings 2 5 2 6 match operator 2 5 mk_Istring function 2 6 mk_static_Istring function 2 20 null terminated 2 19 real_to_string command 2 5 select function 2 6 string_to_integer command 2 5 string_to_real command 2 5 substring function 2 6 to_string function 2 6 struct declaration 3 34 STVECT 10 94 subroutines 9 12 Subset box 10 35 Subset range 10 35 subtype function 2 10 supertypes 2 8 supmodules file 3 19 3 21 3 22 syntax 3 19 support only builds area 3 21 surface of revolution 5 6 5 23 swept volume 7 30 symbols 2 49 data type 2 49 id 2 49 identifiers 2 49 synchronized cutting 9 13 9 17 Syntax for Each Control File 10 69 system defined types 1 6 2 4 2 8 T TAP 10 102 task closure 6 21 tasks closure 9 10 communication 2 40 instantaneous commands 2 34 is_task function 2 10 machine dependent 8 8 machine independent 8 2 Soft Machines messages 2 41 pipes 2 40 messages queue 2 40 2 41 waiters queue 2 40 2 41 run queue placing
143. ed the same as LOADTL CUTTER FROM x y z i j k Post Proc essor Statements Cycle statements are not simulated See Major Word Table on page 7 3 for a list of supported major and minor words Major words that are not recognized are ignored Converting a CLFile cltoncv 10 66 The CLTONCV converter program is called cltoncv It converts a binary CL file into an ASCII format which is the NCV file for input to the NCV program A custom CL file converter must be developed if the input file is not a standard IBM APT AC or 360 CL file For a binary CL file generated from CATIA an extra parameter is added to the command line to define the type of processing required The output NCV file format is described in NCV File Format Specifications for Custom CL File Conversion on page 7 1 and an example of the NCV format is shown in Sample NCV File on page 7 39 Soft Machines Converting a CL File cltoncv The converter will automatically detect an APT AC or 360 CL file and process it accordingly If the format is not recognized the user will be prompted for the block size assuming that the block size is the difference When the block size is entered it is stored in a file called nev config The user will not be prompted again unless the ncv config file is deleted Editing the ncv config file will also allow the block size to be changed The control file used for processing defaults in earlier versions of NCV is op
144. el The Cutting Tools section of Chapter 6 Modeling NOTE NC Tooling in the Soft Machines User s Manual provides more information 4 Fill in additional properties if required 5 Construct cutting_tool subclass Example 7 1 illustrates how this can be done in SIL Example 7 1 Suppose there are 3 models END_ MILL MILL_FLANGE and MILL_TIP representing the CAD model flange and tip respectively of the cutting tool We declare 3 shapes as follows cutter_shape wlkup END_ MILL cutter_flange wilkup MILL_FLANGE cutter_tip wlkup MILL_TIP Flange and tip of the cutting tool can be defined as follows fr_cutter pose cutter_shape fr_flange pose cutter_flange in_frame fr_cutter fr_tip pose cutter_tip in_frame fr_cutter continued on next page 7 10 Soft Machines Tool Holder D S Z dD D Tool Holder The class tool_holder is declared as new_class tool_holder superclass generalize shape flange frame mount frame cutter cutting_tool holder_type id cutter_types list_of id AELD TYPE DESC RIPTION flange frame Flange of tool holder Defines when tool holder is mounted onto the tool changer mount frame Cutter mount position cutter cutting tool Cutting tool mounted to the tool holder Table 7 2 tool_holder field descriptions Developer s Guide 7 11 3 97 Modeling N
145. ell model into a rigid model glue lt model_names gt where lt model_name gt is the name of a model existing in the workcell A workcell model may be an object tree which has several child objects If an object tree is glued Soft Machines replaces the tree structure of the object tree with a rigid model Therefore you do not have access to any of the children individually once the model is glued If the model or any of its children are parametric shapes glue will remove the parametric information about these shapes For this reason models which have been glued require less memory space since Soft Machines keeps only the discrete information about the shapes this significantly increases the efficiency of workcell simulation You can use glue for shapes which do not exist in the workcell also glue lt name gt lt shape1 gt lt shapeN gt This version of glue returns a rigid shape lt name gt whose body is the combination of the bodies of lt shape1 gt through lt shapeN gt DO NOT use this command if any of the shapes from lt shape1 gt through lt shapeN gt exist in the workcell IMPORTANT When this version of glue is invoked Soft Machines defines a reference frame for the resulting shape and places it on the shape at the same place as the World coordinate frame This makes it seem as though an invisible copy of the World coordinate frame were included with the shape when it is glued Because a rigid sha
146. em as form cutter arcs see Arc lines are of the form on page 10 129 E When the holder is used in the simulation its origin point 0 0 is moved to the current CL point Then it is oriented so that its axis lines up with the cutter axis 5 5 oO D ic D D 5 Note that if a holder is moved up or down all its Y coordinates change so it becomes essentially a new holder Sample ncvholder lib File A sample nevholder 1ib file is included with the product containing two sample holders named SampleHolder1 and SampleHolder2 If you wish to practice adding a holder statement you can use the tutorcl ncv file that comes with the product E Copy tutorcl ncv to say keep ncv E Edit keep ncv by adding a new first line PPRINT HOLDER SampleHolder2 E Run ncver using the input file keep nev Developer s Guide 10 127 3 97 Using First Cut 10 128 Form Cutters Form cutters can be modeled View Dynamic Fit Colors Display Modes Measure La Figure 10 55 Modeling form cutters First Cut defines these as solids of revolution whose profiles consist of lines and arcs A form cutter is used in an NCV input file with a statement of the form PPRINT FORM name where name is the name of the cutter Cutters are defined in the file nevcutter 1ib It consists of a series of cutter definitions Each definition consists of a name line followed by a series of coordinate lines A name line consists of th
147. emoval is applied M Machine is on M Machine is not in rapid mode E Cutter is at the cutting position a No tool change during the time elapsed 7 30 Soft Machines Assigning Additional Properties D Z D D Developer s Guide 7 31 3 97 Modeling NC Tooling Spindle On Off We simulate the motion of the spindle or more specially the rotation of the cutting tool mounted to the spindle by manipulating its subobjects children The simplest method is to create a model representing the cutter revolution adopt it under the cutting tool and then hide it when the spindle is off and show it when the spindle is turned on Figure 7 13 and Example 7 10 Cutter Inserts 4 l Spindle OFF Cutter Inserts Revolution Shape Spindle ON Sara Figure 7 13 Simulating spindle ON OFF 7 32 Soft Machines Chapter 8 NC Tasks This chapter discusses the following topics gt Creating SIL Tasks for NC Machines E Machine Independent Tasks E Machine Dependent Tasks gt Constructing and Customizing G and M Tables gt Error Logging and Reporting E Error Log E Recording Movies In order to simulate machine motions described by NC part programs Soft Machines converts part program G code statements into equivalent SIL expressions These SIL functions procedures and tasks in turn manipulate workcell objects such as machine and tooling model
148. en declaring a closure of procedure my_procedure arg1 arg1_type arg2 arg2_type the following is used my_closure mk_closure my_procedure function ob arg1_type arg2_type Developer s Guide 2 45 3 97 Object Oriented Programming in SIL tclosures A tclosure is to a task what a closure is to a function a passable data item whose value is a task rather than a function 2 46 Soft Machines Closures and tclosures Using Closures and tclosures to Customize G Code Translators We have seen how we can insert a function G code reader into the class nc_machine by using closures and represent machine specific tasks using a single telosure The behavior of a Soft Machines device such as a robot or an NC machine can easily be customized through the manipulation of closures In a Soft Machines simulation machines of various designs and configurations can be controlled by the same set of SIL commands moveto moveby home etc even though the kinematics may be very different A 2 axis lathe does not move in the same manner as a 3 axis milling machine a travelling column horizontal machining center with a tilt rotary table is totally different from a gantry style milling machine with a nutating head This is because functions such as forward and inverse kinematics and the machine s path planner are inserted into the robot data class as closures Object Oriented Similarly the NC codes GO rapid
149. en multiple of its length cchars and cshorts when extracted turn into SIL integers and sreals into SIL reals C Stings There are a couple of utilities for going back and forth between SIL Istrings and C strings Object Oriented 7 to E E nS fo e mS a The type estring is defined just to be a synonym for carray_of cchar The following operations are provided function to_cstring x Istring cstring This first checks that the contents string of x is static does not get moved around by the garbage collector and null terminated If either of these conditions is violated a new contents which is tenured and null terminated is generated and set up as the contents part of x The cstring returned is a pointer to the raw untagged contents of x So the cstring will occupy the same storage as the contents of x and will be null terminated Since the storage for the resulting cstring cannot be freed this function should be used only to create permanent cstrings The following function statically allocates a brand new null terminated cstring with capacity equal to that of x and copies x into it Since the storage for the resulting cstring cannot be freed this function should be used only to create permanent cstrings function mk_cstring x Istring cstring REMINDER The capacity of an Istring is usually bigger than its current length The following function dynamical
150. er tool_holder end AED TYPE DESC RIPTION max_mounts integer Maximum number of stations in tool changer pos frame Position of holder mount indx integer Station number holder_type id Identifier for type of tool holder used in conjunction with tool_holder holder_type holder tool holder Tool holder mounted at station Table 7 3 tool_changer field descriptions Figures 7 9 and 7 10 show two examples of tool changers a turret common on turning machines and a chain type tool changer common on machining centers Each tool changer contains a series of stations defined by the field mounts for mounting tool holder cutter assembly Soft Machines Tool Changer When we mount a tool holder th to a tool changer te we move the th so that the flange of the holder is at the position specified by tc mounts n pos where n is an integer D o a 6 Z dD 3 e th_rel_tc pose tc tc mounts n pos invert th flange moveto th th_rel_tc affix th tc Holder Mounts Oa g L ALAN Figure 7 9 Turret type tool changer Developer s Guide 7 15 3 97 Modeling NC Tooling Holder Mounts Figure 7 10 Chain type tool changer Example 7 3 shows how to construct a tool changer Example 7 3 Suppose we want to construct a tool changer from the object TURRET which has the following subparts children TURRET FRAMES FO F1 F2 FN To compute the numbe
151. erations inverse kinematics moves only Developer s Guide 3 97 8 19 NC Tasks 8 20 Soft Machines Creating SIL Tasks for NC Machines v x N oO z Developer s Guide 8 21 3 97 NC Tasks In some controllers a cycle is initialized by setting the canned cycles G codes G81 to G89 The active canned cycle is then called by other G codes G98 G99 etc In such cases we establish the active canned cycle by setting the global variable canned_cycle type closure whenever a cycle is initialized The active canned cycle can then be executed by other call functions see Example 8 8 8 22 Soft Machines Constructing and Customizing G and M Tables 9 N H S z Constructing and Customizing G and M Tables We have learned how to utilize default tables as a basis to construct a machine specific NC simulator and to use built in Soft Machines routines to develop machine specific tasks Custom G and M tables can be built by mixing custom developed machine specific routines with standard G and M codes then attaching them to an nc_machine object Grouping G Codes There is a standard set of rules in the execution of NC part program statements 1 There are two different types of G codes a Retained G codes modal b One shot G codes non modal Developer s Guide 8 23 3 97 NC Tasks G codes are divided into several different groups Multiple G codes may be pro
152. ermediate locations places the light source at intermediate directions You can also have the model with shadows by switching on T Shadows in the Display menu View Dynamic Fit Colors Display Modes Measure Display Tear off Show axes Show cutter _ Shadows Figure 10 87 Displaying shadows Playing Back the Recording of the Simulation To play back the recording of the session select Playback on your main control window After asking for confirmation that you want to leave Simulation mode your Geometry Window will disappear and be replaced by one showing the starting view of the simulation 10 156 Soft Machines First Cut Tutorial Now go to the Metal Removal Window and select again To End which displays the following menu To Beginning To Prev Error To Prev Cutter To Prev Point To Next Point To Next Cutter To Next Error To End Figure 10 88 The To End menu You can now set up the simulation to re run to either the next point the next cutter or the next error or to the end At any point you can stop the playback and run it backwards by going either to the beginning or to a previous event You will see that by stopping at any point and then stepping through you can isolate any motion to a particular CL ID S DSi y WL to N To start with select To End and then select Go to start the playback You will notice that the playback runs very quickly t
153. ersion make sure the two files are in the current directory then enter the command cltoncv tutorcl tutoret lt RETURN gt Soft Machines First Cut Tutorial Your screen will look something like this Junix 15 ls tutors tutorcl tutorct unix 16 cltoncy tutorcl tutorct HE HE IE ESE JE HE JE JE E JE JE JE JE JE JE JE HE JE JE JE JE JE JE JE JE E PE JE JE JE JE JE PE IE JE JE HEE JE HE JE JE SE HE JE JE HE JE JE HE ME JE JE ME JE HE DE CIMPLEX CORPORATION CLFILE TO NCY CONVERSION ROUTINE FE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE JE HE ME JE HE HE Processing gt tutorcl tutorct END OF FILE unix 17 ls 1 tutor rw r r 1 kab 67788 Dec 17 10 30 tutorcl rw rw rw 1 kab 102 Dec 17 10 30 tutorcl mes rw rw rw 1 kab 47153 Dec 17 10 30 tutorcl ncv rw r r 1 kab 653 Dec 17 10 30 tutorct unix 18 E Figure 10 58 The illustration shows the files in the directory before running the command i e the two input files tutore1 and tutorct The cltoncv command is on the next line followed by the banner displayed by the program while it is running After this all the files whose names command with tutor have been listed and you will see that in addition to the original input files there are now the nev file for input to the NCV program and the mes file which contains messages generated d
154. es integer real boolean string Stings Strings are dynamic in SIL Example 2 1 The definition msg hello assigns the length 5 string hello to the variable msg Later we can reassign msg s value by msg goodbye Soft Machines Data Types In the above example we assign a length 7 string goodbye to the same variable Memory allocation for the additional characters is handled automatically Of course shorter strings can be assigned to msg msg bye String Comparisons In SIL users make lexicographical comparisons using the syntax lt string gt lt lt string gt Object Oriented 7 to E E nS Do e mS a Additionally we can compare strings using lt gt gt and lt gt The match operator compares strings that may contain wildcards String Conversions A string composed of numerals can be converted to an integer by using string_to_integer lt string gt Conversely an integer can be converted to a string by using integer_to_string lt integer gt Similarly we can convert reals to strings and back with real_to_string lt real gt and string_to_real lt string gt Istings Consider the following assignments x abcdffg X substring x 2 3 Developer s Guide 2 5 3 97 Object Oriented Programming in SIL 2 6 These assignments result in the value of x being bed The SIL interpreter will constr
155. es are parameterless tasks that do not return values The syntax for defining a process is a little different from the syntax used for defining tasks process lt name gt lt private pipes gt lt local variable declarations gt lt task body gt where lt private pipe gt lt pipe name gt lt pipe name gt lt pipe name gt lt type gt and lt private pipes gt lt private pipe gt lt private pipe gt The key word process alerts the task defining machine that the parameters are to be interpreted as private pipes rather than parameters SIL provides a variant of signal for sending a message lt msg gt to a private pipe lt ppipe gt owned by process lt proc gt signal lt proc gt lt ppipe gt lt msg gt Developer s Guide 2 41 3 97 Object Oriented Programming in SIL SIL also provides a variant of wait for removing messages from a private pipe The command wait x causes the current process i e the one calling wait to suspend itself if the pipe x is empty When a message arrives in x the process will resume If x is not empty then the first value in x is assigned to the parameter x and can be referenced that way until the next time wait x is executed Just as with public pipes wait will return the first value stored in a pipe or suspend itself if the pipe is empty Closures and tclosures This section contains these topics gt Closures gt tclosures gt Usin
156. es at the end of the messages queue of a pipe or remove messages from the front of the messages queue If a task tries to remove a message when the messages queue is empty then the task suspends itself on the waiters queue of the pipe until a message arrives Note that messages does not have specific tasks as destinations To create a pipe of type lt type gt we use the new_pipe command p new_pipe lt type gt Soft Machines Concurrency To place a message lt msg gt of type lt type gt in p we use signal signal lt msg gt p If the waiters queue is empty then signal simply adds lt msgp gt to the messages queue of p If the waiters queue is not empty the messages queue will be empty and signal wakes up the first task on the waiters queue and personally delivers lt msg gt The wait command returns the next message in a pipe if there is one Otherwise it will suspend the current task and add it to the waiters queue Both wait and signal are temporal commands that return control to the scheduler when they complete Object Oriented 7 to E E 5 D fo mS a Processes When a task places a message in a pipe there is no guarantee as to which task will receive this message since any task can extract messages from any pipe Alternatively a task can have private pipes While any task can place a message in a private pipe only the owner task can extract messages from the pipe Process
157. es three useful coordinate descriptions Cartesian cylindrical and spherical 4 4 Soft Machines Understanding Soft Machines Geometry Cartesian Description The most common is the Cartesian description where the point s coordinates are its X Y and Z distances from the reference frame s origin Cartesian coordinates Figure 4 4 Cartesian coordinates Use the type ert to construct a Cartesian position using this command and syntax mk_crt lt xc gt lt yc gt lt zc gt or mk_point lt xc gt lt yc gt lt zc gt 8 os F Og Developer s Guide 4 5 3 97 Geometry in Soft Machines Cylindrical Desc ription Another type of position is the cylindrical description in which the point s coordinates are its angular distance from the X axis measured counter clockwise in the XY plane of the reference frame its radius normal to the Z axis and its height along the Z axis Z Theta X Radius Figure 4 5 Cylindrical coordinates Use the type cyl to construct a cylindrical position using this command and syntax mk_cyl lt rad gt lt theta gt lt zc gt 4 6 Soft Machines Understanding Soft Machines Geometry Spherical Description The final description is spherical in which the point s coordinates are its radius from the origin of the reference frame its angular distance from the X axis longitude and its angular distance from the XY plane latitude X Y Figur
158. ever a SIL file which contains c_imports is compiled sample c and h files are generated These sample c and h files contain these declarations and samples of their use The sample files are placed in cim mccode lt module gt lt filename gt _sample c Soft Machines Calling C Code from SIL and cim mhfiles lt module gt lt filename gt _sample h These sample files are meant to be copied to your own files with different names so that they will not be overwritten where the function bodies will be filled in The include line in the c file which mentions the sample h file should be changed Alternatively the sample files may be used solely as documentation The types which will appear in the sample h file will include all those referenced in the c_import commands not just those that happen to be defined in the file containing the c_import commands 23 D O O a ow Developer s Guide 3 31 3 97 Working with SILCode 3 32 Soft Machines Calling C Code from SIL 5 23 o O O X ow Developer s Guide 3 33 3 97 Working with SILCode 3 34 Passing Data Types to C Passing Records to C Records as well as Irecords can be passed to C Records are passed by reference even though they are passed to SIL functions by value No problems will arise from passing records to C but attempting to return values in records rather than Irecords is discouraged A SIL Ireco
159. ey all depend on semaphores semaphore is a SIL type with the following operations wait lt semaphore gt signal lt semaphore gt value lt semaphore gt integer new_semaphore semaphore A semaphore s with value n may be thought of as representing n units of some resource The wait s operation when executed by a task is a request for one unit of the resource If the value of the semaphore is greater than 0 then the value is simply reduced by 1 and the wait returns If however the value is O when wait s is executed the task which executes the wait is suspended until some other task makes a unit of the resource available If other tasks are already waiting for the resource that is have executed wait s then our task is added to the end of a queue associated with the semaphore 2 38 Soft Machines Concurrency The command signal s adds a unit of resource to the semaphore If there is a queue of tasks waiting for the resource the first element of the queue is resumed If no tasks are waiting the value of the semaphore is incremented o Die oe oD F FS O o Q Developer s Guide 2 39 3 97 Object Oriented Programming in SIL 2 40 Pipes Pipes are used for communication between tasks A pipe of type pipe lt type gt is a structure of the form pipe lrecord messages queue of lt type gt waiters queue of tasks end Tasks can either place messag
160. ffector robot nc machine machining center Figure 2 3 Object class hierarchy The specialize_to operator is used to access subclasses of any Soft Machines object Conversely to access the superclass of an object generalize is used When an object is first installed into a workcell as type shape we use specialize_to to retrieve the subclass We can also determine whether a shape contains the valid subclass by checking whether specialize_to returns a nul Example 2 10 Install cutting tool from file var sh shape ct cutting_tool sh install lt shape_name gt lt file_name gt ct specialize_to sh cutting_tool Developer s Guide 2 27 3 97 Object Oriented Programming in SIL 2 28 Example 2 10 continued Check whether a shape contains an NC machine function is_nc_machine sh shape boolean begin if object_exists name sh then is_nce_machine not nul specialize_to sh nc_machine else is_nc_machine false end Views Two objects are referentially equivalent if they are both views of the same entity Clearly if object A generalizes object B then A and B are referentially equivalent But two objects can be referentially equivalent without one generalizing the other The list of all views referentially equivalent to an object is given by the function views The views function returns a list of universals objects like any othe
161. fied even if there is no holder geometry This flute length is then applied to the cutters using this holder If a flute length has been specified for a cutter the cutter is reduced to just its flute length and the shaft portion of the cutter is replaced with a shaft cylinder or cone in the case of tapered cutters There is a switch O Ignore holder and shaft in the Auto menu which allows you to ignore holders and shafts even if they are specified This is useful because displaying the holders and checking for collisions slows down the simulation probably by an order of magnitude over simulating the cutter alone Developer s Guide 10 125 3 97 5 5 oO D ic D D 5 Using First Cut 10 126 If the check button is checked but flute lengths have been specified the cutters are still reduced to just their flute length That is checking the button does not make NCV act exactly as in previous releases To do that you would have to remove the nevholder lib file or rename it or remove read permission from it If a default cutter is used i e the input file contains GOTO statements before the first CUTTER statement there is no way to specify a holder or flute length for that cutter The G code converter handles holder names In the g cutters file the NSIDES parameter can be followed by a holder name If the holder name is specified the NSIDES parameter must be specified The NSIDES parameter can be zero
162. fine a profile sweep Step 1 Enter a set of X Y coordinates for the first point Step 2 Select Add pt The first coordinate values display in the message area as the Profile Point counter is incremented from 1 to 2 Step 3 Enter a second set of X Y coordinates for the second point Step 4 Select Add pt Developer s Guide 10 25 3 97 Using First Cut These values appear in the message window and the profile point counter is incremented A green line appears in the Geometry Windows connecting the two points Step 5 Repeat the last step to enter successive sets of coordinates As you continue to enter points First Cut continues to draw a line from the previous profile point to the current point Step 6 Enter the start point s coordinates Step 7 Enter the end point s coordinates Step 8 Select OK The profile sweep automatically closes the first point and the last point entered The profile sweep appears in the selected color stock color is light blue fixture color is white The values entered for Start Point and End Point determine the depth of the sweep and the vector which defines the sweep orientation While you are defining the sweep you can also modify it by selecting Delete pt Delete pt enables you to continue to delete points until you have defined the correct shape 10 26 Soft Machines First Cut Functions The Read SLA file Selection The Read SLA File panel is used to select
163. five axis motion using ball end cutters If you run other programs on the same workstation at the same time you are running First Cut then the extra workload on the machine will slow down First Cut Soft Machines Getting the Most From First Cut Choosing an Optimal View When simulating very large files an initial session should be performed at a small scale with the view or views taking up a small proportion of the screen The result can help define the critical areas and thereby determine more optimal view orientations for subsequent large scale simulations Accuracy As with all graphical displays the simulation is an approximation of accurate model data The larger the model appears on the screen the more accurate the simulation and the slower it runs Multiple Viewports If you have a large part or one where there is a lot of fine detail using multiple viewports may help In one of the viewports display a complete view of the part and in other viewports zoom the view up to give you the resolution you require on smaller regions of the part The complete view of the part enables you to orient yourself to the other views while the simulation is running oO o a a re to a gt Using this technique it has been possible to verify the tool path for a 20 foot aircraft spar where some of the cuts are only 300ths of an inch deep File Management Files that are no longer needed for current produ
164. for special cycle processing The exception is any point preceded by the RAPID keyword RAPID motions during a cycle are considered to be avoidance moves The CYCLE statements are explained below CYCLE Parameters Cycles have parameters of depth of operation feedrate and startup clearance distance Developer s Guide 10 97 3 97 Using First Cut 10 98 Depth of Operation The depth when required follows immediately the CYCLE type It is the distance below each point to which the operation is to perform A negative depth specifies an end position above the control point it does not cause a reverse operation The depth value must always result in a position at or below the cycle clearance plane Feedrate The feedrate comprises feed type and the feed value formatted as follows IPM feed value IPR feed value MMPM feed value MMPR feed value All cycles must specify a feedrate The DEEP and BRKCHP may specify multiple feedrates Feedrate keywords are KEYWORD VALUE IPM Inches per minute IPR Inches per revolution MMPM Millimeters per minute MMPR Millimeters per revolution Clearance Height Clear is the distance above each point at which NCV will position the cutter prior to and after the required operation Clear follows the feedrate parameter If no clear value is specified the last clear value given is used The default clearance value on the first cycle statement is zero A negative
165. ft Machines applications which take advantage of the capabilities that SIL offers Soft Machines in fact is a SIL application 3 te oe c s3 o d Dc Oo G 5 pope 2D SIL is a powerful general purpose programming language that lies at the heart of Soft Machines and supports advanced programming methods such as object oriented programming concurrent programming and meta programming This manual is intended as a reference manual for software developers to develop custom applications for Soft Machines using the SIL language Specifically the following topics are covered gt Constructing software models of machines based on kinematics models SILSPECS gt Modeling NC tooling gt Developing NC related procedures functions and tasks gt Customizing G and M codes gt Developing custom G code translators This chapter provides an overview of the SIL language including a simplified model of SIL s runtime environment Developer s Guide 1 1 3 97 Introduction to the SIL Language SIL Language Overview The layers of SIL implementation are arranged in the following fashion Devices Objects Concurrency ee See ae Metaprogramming Extended Types Polymorphic Interactive Pascal Figure 1 1 The SIL language SIL Compared to Pascal SIL and Pascal share many syntactic features Programmers familiar with Pascal but new t
166. g Closures and tclosures to Customize G Code Translators 2 42 Soft Machines Closures and tclosures Closures Closures are entities in SIL which allow functions to be manipulated as data to be passed to functions inserted in data structures etc Example 2 17 illustrates this concept Object Oriented Developer s Guide 2 43 3 97 7 S to E E nS Do e a Object Oriented Programming in SIL Closures can be manipulated just like any SIL data objects They can be inserted into SIL data structures constructed into lists or arrays and passed as arguments among functions procedures and tasks 2 44 Soft Machines Closures and tclosures To continue with the last example Example 2 17 the G code translator can be attached to a data type combining the controller with the machine properties As a matter of fact Soft Machines utilizes such a concept when creating the class ne_machine The field nc_machine translator is of type gc_translator which is declared as type gc_translator closure ob The G code translator can easily be incorporated into the nc_machine data structure as follows Object Oriented my_machine translator mk_closure my_gcode_reader function ob 72 D E E d D where my_machine is of type nc_machine and my_gcode_reader is a procedure with no arguments NOTE te procedures are considered as functions that return an Wh
167. g First Cut It produces the file tutorce1 nev for input to the NC Verification Program and the file tutorcl mes which contains messages generated during the conversion Second there is the NC Verification Program itself which provides you with the graphical simulation of the machining of the part This has the outputs shown An Error File which contains a text description of each error detected during the machining For example it could contain a statement that it detected a rapid movement into the stock and would list the CL IDs of the commands that caused the movement A recording of the simulation which permits the replaying of the simulation either from within the current session or at a later time Saved Screen Images These are snapshots of the screen taken when for example an error is detected or they may be snapshots that you have taken manually during the session Full details of the above system components are given in this manual and you will be practicing many of them during this tutorial Tutorial Prerequisites Before running the tutorial please ensure the following 10 132 You are logged on to the workstation See your workstation Owner s Manual for logon instructions If necessary change directory to the directory which contains the NCV software Your CL file tutore1 and control file tutoret must be converted to First Cut format before you can begin the simulation To perform the conv
168. g new 3 17 modules 6 6 mount_tlib procedure 7 18 Move 10 45 move_handle shape 6 10 moveby command 5 16 6 9 moveto command 5 16 6 10 movies 8 30 Movies panel 8 30 MULTAX 10 87 Soft Machines Multi axis 10 36 Multiple Viewports 10 63 my_class function 2 28 N NC machine flange 6 10 G code adding 2 48 joint vector 6 14 6 18 M code adding 2 48 machine pendant panel 6 21 spindle 7 6 tasks 8 2 8 23 tool library mounting a 7 18 tooling 6 18 NC simulator 6 2 developing 6 4 G code translator 9 3 modules 6 6 tooling assembly 7 2 NC tooling 7 3 nc_machine class changer_mount field 7 18 constructing 6 22 move_handle field 6 10 pendant field 6 21 ref field 6 11 type declaration 6 7 ncreate_template command 3 20 NCV File 10 68 NCV File Format Specifications 10 77 nev_index_tc task 8 9 ncv_index_turret task 8 9 nev_null_link global 6 10 ncev_report_error procedure 8 30 nev_sync_block type 9 12 new_cstring function 2 19 new_pipe command 2 40 newmodule command 3 12 3 14 newproduct command 3 12 3 17 NSIDES 10 87 ntype 2 9 is_primitive function 2 10 Developer s Guide 3 97 Index primitive operations 2 10 nul 2 28 null fields 6 10 null list 2 3 null terminated 2 28 Numeric convention 10 78 O ob see lispob object casting 2 28 data 2 8 gluing 5 15 metaobjects 2 8 object oriented programming 1 1 offset vector 7 27 7 28 offsets cutter 7 26 On Version 10 41 operators 1 8 Optimal View 10 63 orie
169. gcode_info Data Type E G Code Reader gt Executing G and M Codes gt Subroutines and Synchronized Cutting In previous chapters an NC simulator was defined as a software module consisting of the following components E Specialized object class consisting of the kinematics model of an NC machine machine pendant panel and NC related parameters Chapters 5 and 6 E Specialized objects for NC tooling Chapter 7 Constructing the fe ie a a p v 3 fo 8 0 E Gand M code tables containing SIL routines task closures simulating NC functions machine dependent and machine independent Chapter 8 G code translator to translate part programs statements into calls from the G and M tables and execute the simulation This chapter describes the process of constructing a G code translator and attaching it to an nc_machine object and how this translator is used to execute an NC simulation Developer s Guide 9 1 3 97 Constucting the G Code Translator Architecture ofa G Code Translator 9 2 Figure 9 1 provides a schematic view of how input data G code statements is converted into SIL calls in the simulation of an NC part program NC PARTPROGRAM 00287 N0001G17G99 N0002G70G90G94 E01 T1 1 CRL ALL HOLES N0005G91G28G000Z 0 N0010G49 N0015T01M06 N0020G90G00X 0Y 0 N0025G43Z1 H01 N0030S2600M03 N0035G81X3 161Y8 531R 9Z 1 1F3 M08 N SIL DATA STRUCTURES gcod
170. ger gots integer gots2 integer input string stmt_name string stmt_no integer xc real yc real zc real ic real jc real kc real u real v real w real a real b real c real f real e real q real r real l integer t integer s integer p integer multi_r array_of real continued on next page Developer s Guide 9 3 3 97 Constucting the G Code Translator d integer colon integer at_sign multi_r_record h integer end This data type can represent G code statements in the forms N_G G X_Y_ZI_ J_K_A_B_C IJK U_V_W_FEQRLTS PDHMM _ N_G_RO1_RO02_R03_ Each field can either represent input values G and M codes in statement parameters for X Y Z I J K etc or the two gots fields which contain boolean bit fields which log the status of the input statement Each input field has a corresponding got field For example if a statement contains N G X and Y N0020G90G00X0 Y0 The got_n got_g got_x and got_y fields will be set to TRUE other gots fields got_z got_m etc will be FALSE Description of each field is as follows FELD TYPE DESC RIPTION gcode array of integer G code field each array element contains the value of each G code group see Grouping G Codes on page 8 23 mcode list of integer M code fields gots integer Bit fields denoting input status bitO TRUE if X exists gcode_info got_x TRUE bit
171. ger mount on machine is occupied end Figure 6 1 on page 6 3 illustrates that a machine assembly consists of a tooling assembly a tool_lib attached to a machine tool model nc_machine The procedure mount_tlib completes the step of constructing such a machine assembly It is often desirable to inquire about which tool holder and cutting tool is being used at a certain point in time For example to trace the cutter path we need to find out the position of the tip of the active cutting tool All the tooling related information about an NC machine can be retrieved from the object nc_machine Soft Machines Tool Library To retrieve the active tool holder we define the function get_active_holder Da fe e iS z Da mo O function get_active_holder m nc_machine tool_holder var tl tool_lib tc tool_changer mnt mount_point th tool_ holder begin tl specialize_to wlkup m tlib tool_lib th nil as_type tool_holder if not nul tl then begin tc tl changer if not nul tc then begin get_active_station returns the active mount_point mnt get_active_station tc m station_no th mnt holder end end get_active_holder th end Note the usage of the function specialize_to to retrieve the subclass tool_lib from a shape and the function nul to check whether an object exists or not nul returns TRUE if an object is a null object To retrieve the ac
172. gging and Reporting Soft Machines provides error logging and facilities in two forms E Error messages can be displayed either during the simulation or saved as a text file for later viewing Graphics animation files movies can be saved errors such as collisions highlights are saved with movies Developer s Guide 8 29 3 97 NC Tasks Error Log Soft Machines uses the command nev_report_error for reporting of error messages procedure ncv_report_error nc nc_machine g gcode_info err_msg string where input nc is the current NC machine g contains the G code statement data structure err_msg is the error message to be displayed output Name of NC machine Statement number at which error occurs Error message s When the user requests an error log file from the Simulation Setup panel ncv_report_error sends all error messages to the specified log file in addition to displaying the error messages in the SIL Window ncv_report_error should be called whenever an error condition occurs Recording Movies Movie recording is conducted automatically through selections in the Movies panel It is not necessary to develop special routines for saving graphics animation to Soft Machines movie files 8 30 Soft Machines Chapter 9 Constructing the G Code Translator This chapter explains the following topics gt Architecture of a G Code Translator gt Converting G Code into SIL Data Type E
173. grammed in one part program statement Only one G code from each modal group and one non modal G code can be programmed in the same statement Example 8 9 Valid G01 G41 G95 Invalid G00 G01 G40 G41 G00 G01 and G40 G41 are from the same groups can cancel each other A retained G code from one group remains active until another from the same group is programmed in a subsequent statement Non modal one shot G codes must be programmed in every block when required All M codes are considered non modal A Power Up or Reset operation re initializes all the G codes In Soft Machines a G code table is defined as an array of type g_functions type gcode_closure tclosure gcode_status nc_machine gcode_info type g_function lrecord group integer cl gcode_closure end For every G code represented by a task closure of type gcode_closure we assign a group number and attach it to the group field of the type g_function To follow the rules we adopt the following conventions for g_function group 8 24 1 All non modal one shot G codes belong to Group 0 Soft Machines Constructing and Customizing G and M Tables 2 Group numbers for each modal group are determined by the NC part programmer s manual When unavailable we use the groups defined in default_gtable 3 Each group has a default power up configuration G code A positive ve value in g_func
174. gt compile_area ted ted1 compiles the SIL files for ted To compile an individual SIL file use SIL gt compile lt module gt lt version gt lt file gt Developer s Guide 3 15 3 97 Working with SILCode 3 16 For example SIL gt compile ted ted1 file1 If we are executing these commands in a product which already includes version ted1 of the module ted the version information is not necessary In this case the commands are SIL gt compile_area lt module gt and SIL gt compile lt module gt lt file gt For example SIL gt compile_area ted SIL gt compile ted file1 Once the SIL files are compiled the second stage of compilation from C to binary is accomplished via the following shell command remake lt module gt lt product gt This remakes the given module for inclusion in the given product The version used is determined from the versions file in the product For example remake ted tedsproduct In this example the remake command also compiles any code included in c_files In our example these files are called cfile1 and cfile2 Whenever SIL code is re compiled from SIL to C the next remake done on the module re compiles the newly generated C code However editing a hand written C code file will not by itself force remake to re compile that file To re compile a file add the name of the modified C file to the end of cim builds lt version gt new_c_code
175. has completed the current time equals the total time The calculations assume that all feedrates in the input file are expressed in the same units i e inches or millimeters and that the coordinate system is in the same units The times include only cutting motions i e they do not take into account RAPID motions tool changes or manual operations Similarly a FROM statement which causes the cutter to jump to a new location is assumed to take no time Soft Machines First Cut Tutorial Display of CL Data Select CL D from the Measure menu The Determine CL ID panel is Cutter CUTTER CL ID 0 GOTO 0 3124 0 1 0000 OK Figure 10 80 The Determine CL ID panel If you select click at any point on your part model then details for that cut on the surface will be displayed E The cutter description is displayed as a CUTTER statement for APT cutters and as a PPRINT FORM statement for form cutters 6 2 a r ke N E The motion is displayed as a GOTO statement showing the point s X Y Z and I J K coordinates Volume Calculations You can measure the volume of the stock at any time during the simulation To do this select Volume from the Measure menu The Measure Volume panel is displayed Current volume 2 874 Volume removed 10 590 OK Figure 10 81 The Measure Volume panel Developer s Guide 10 151 3 97 Using First Cut
176. he Subset box Selection Subset box is used to run the simulation on a specified set of motions by using the cursor to draw a box around the desired motions When you select Subset box a message is displayed in the message area instructing you to drag the mouse diagonally across the desired box To select a subset box of tool paths 1 Position the cursor at one corner of the box 2 Press and hold the left mouse button while moving the cursor to the opposite corner of the box 3 Release the left mouse button The motions which lie inside or cross the box are selected for simulation Developer s Guide 10 35 3 97 Using First Cut If you are in Setup mode you will see the selected motions highlighted However if you are using simulation mode you cannot see the selected subset since the tool path is not displayed The Use entire NC program Selection This makes all CL points active again regardless of whether Subset range or Subset box was used The Multi axis Switch This selection is switched on automatically when an NC program file is read to reflect the presence or absence of multi axis motions in the file If you have a multi axis file switching it off will cause First Cut to skip the file s multi axis motions Auto Menu The Auto pulldown menu enables you to specify various actions to be carried out automatically during the simulation for example if the cut color should be changed auto
177. he total depth calculated by adding up the incremental stepping information The lt steps amp feedrates gt parameters specify the depth of each cut and feedrate to be used They are coded as follows IPM IPR MMPM MMPR step step feed value The tilde means that the indicated items can be repeated any number of times At least one step value must be coded with each increment series It is either an incremental or absolute distance to cut before retracting from the hole to clear chips A feedrate type and value must be coded This feedrate specification is used for all the stepping values that precede it The entire group steps and feedrate can be repeated for as many different feedrates as required Soft Machines NCV Input Data Formats Once all steps have been performed the hole is complete unless a depth has been coded In this case the last stepping value is repeated until the final depth is reached If the DECR option is specified then the last stepping value will be reduced by the DECR amount at each peck The clearance distances are optional They specify the original point clearance and the individual step clearances If coded they must follow the final feedrate parameter if omitted the defaults both zero Will be used See the figure below for an example of the type of motions that are created at each valid point within a DEEP cycle CYCLE DEEP f1 f2 f3 IPM feed value r n
178. hen the simulation is complete select the File button in the Metal Removal Window which gives you the File menu Read NC file Alt N Read WIP file Write WIP file Write image file Use playback file Alt P Read batch file Quit Alt Q Figure 10 97 The File menu Select the Write image file button This creates an image file of your complete screen that is stored in your directory as a standard X Windows xwd file Note that the name of the file being created is displayed in the message box on the Metal Removal Window You can create image files throughout the simulation automatically by using the facilities given in the Auto menu For instance you can create an image file whenever there is a cutter change 10 166 Soft Machines First Cut Tutorial Viewing Saved Images To view an image file create or go to another UNIX window and log in if you have not already done so Search in the directory you have been using for the xwd file you have just created using by typing in the command ls xwd This will list all the xwd files in the directory Locate your new one and then type in the X Windows command xwud in lt filename xwd gt lt RETURN gt where filename xwd is the name of the new file 5 5 6 D i D D 5 Developer s Guide 10 167 3 97 Using First Cut This will give you a display of the snapshot you created vy Set up Simulate lt Play back
179. her Codes Supported Restrictions Processing Special Data Files CATIA File Input Tool Holders Format of ncvholder lib File Sample ncvholder lib File Form Cutters First Cut Tutorial Program Components Tutorial Prerequisites Simulation Session Part One Reading the NC File Metal Removal Window Geometry Window Display of Coordinate System Axes Cutter Display Button View Selection Creating Multiple Views Changing the View 10 100 10 101 10 102 10 103 10 104 10 105 10 108 10 109 10 111 10 112 10 114 10 117 10 118 10 118 10 120 10 120 10 121 10 121 10 121 10 122 10 124 10 125 10 126 10 127 10 128 10 130 10 131 10 132 10 134 10 134 10 137 10 138 10 138 10 139 10 139 10 140 10 140 Soft Machines Index Commence the Simulation Automatic Action Control Setting Color Options Setting up Recording Setting Automatic Check Points Rapid Motions Stopping or Slowing Down the Simulation Viewing in Translucent Mode Error Messages End of Simulation Chip Removal Simulation Evaluation Repaint Sectioning the Part Rotating the View of the Part Rotate Dialog Flipping the View of the Part Zooming in on the Part Light Source and Shadows Table of Contents 10 142 10 143 10 144 10 144 10 145 10 146 10 146 10 147 10 147 10 147 10 148 10 149 10 152 10 152 10 153 10 153 10 154 10 154 10 155 Playing Back the Recording of the Simulation 10 156 Simulation Session Part Two 10 158 Com
180. her view Then take the view down by selecting View in the Geometry Window and then Close Changing the View Returning to your isometric view you can now adjust it to suit your own purpose From the top of your Geometry Window select the Dynamic button The following menu is displayed Dynamic Tear off Rotate XY Alt X gt Pan All P AlteZ Rotate v Move light o Zoom Figure 10 67 The Dynamic menu Note that the Rotate XY button is toggled This means that you can rotate the part in the X and Y axes Move your cursor into the view of the part and using the middle mouse button experiment with moving the part Soft Machines First Cut Tutorial Next select the Dynamic button again and this time toggle Rotate Z in the menu You can now go back down to the view of the part and rotate it about the line of sight using the middle mouse button Also from the Dynamic button you can select Pan to move the part around the screen If you press your center mouse button and move your cursor in the display then the part will follow the cursor Zoom to zoom in or out from the part Again press your middle mouse button and as you move upward the part will be magnified and will grow smaller as you move downward Do this and leave a scaled down model of the part somewhere in the window Now select the Fit button from the top of the Geometry Window which displays this menu i oO kaad a
181. hining a part it is easier to specify the pose of the cutter relative to the frame of the part rather than to the Universe frame especially if the absolute pose of the part is unknown beforehand To do this use the geometric operator rel to specify a reference frame The general command form of the rel operator is lt geometric type gt rel lt pose gt Developer s Guide 4 17 3 97 Geometry in Soft Machines 4 18 where the argument preceding rel can be any position orientation or pose and the argument following rel must always be a pose The value returned is always an absolute position orientation or pose computed from the two arguments For example consider a pose of 1 2 3 0 0 0 A position 1 3 2 relative to this pose would be the position 2 5 5 in the Universe frame That is mk_crt 1 3 2 rel mk_pose 1 2 3 0 0 0 returns the Universe position 2 5 5 Returning to the cutter example suppose we have defined a pose called part_pose that is the pose of the part model relative to the Universe To move a cutter on a corner of the part four inches in from both sides X 4 inch Y 4 inch we would construct the pose as follows Figure 4 14 cutter_pose mk_pose 4 inch 4 inch 0 0 0 0 rel part_pose The SIL operator times can also be used NOTE cutter_pose part_pose mk_pose 4 inch 4 inch 0 0 0 0 Sometimes we know the poses of two frames relative to the Universe but would like to know the
182. his can be defined by delimiting the range of the tool path motions to be executed Defaults for items such as cutters are also defined here Default cutter Default axis Cutter limits Max feedrate gt 8 y Le D a Subset range Subset box Use Entire NC Program TT Figure 10 26 The Control menu Developer s Guide 10 31 3 97 Using First Cut 10 32 Defining the Default Cutter The Default Cutter panel is used if the NC program file contains GOTOs before the first cutter definition The panel selections are used to define the dimensions of the cutter that will be used for those GOTOs Selecting Default cutter from the Control pulldown menu displays the Default Cutter panel M Use default Figure 10 27 The Default Cutter panel The fields specify the cutter dimensions The default cutter is defined by the values D R E F ALPHA BETA H conforming to the APT seven parameter cutter definition convention J Use default turns the default cutter on or off Switching on displays the CL points that precede the first cutter definition and cuts them using the specified cutter Switching off removes the CL points and they will not be cut Defining the Default Tool Axis The Default Tool Axis panel is used to define the tool axis that will be used during simulation whenever the axis is not explicitly specified in the NCV input file for instance in
183. his is because no calculations are being carried out and the program is simply re displaying the previously calculated simulation images If you want the playback to run slowly simply hit the Slow button We suggest that after running through to the end that you then run it back To Beginning and then experiment with running it backward and forward as discussed above When you have finished with the playback facility select the Set up button again this will take you out of the playback mode We can then go on to the second part of this tutorial Developer s Guide 10 157 3 97 Using First Cut 10 158 Simulation Session Part Two View Dynamic Fit Colors Display Modes Measure Figure 10 89 Comparison of the As Machined Part with the Design Part In this part of the tutorial you are going to check an as machined part against an as designed part The machined part is that generated during the simulation of your NC program The design part is going to be imported using an SLA format file and then translucently superimposed on the manufactured part All differences between the two parts will be highlighted Read an NC File for Comparison Select File from your Metal Removal Window and then select the Read NC File button to display the Read NC File panel This time select the gouge nev file and select OK This file has in it a part program that has deliberate errors to show the functions noted above Soft Machi
184. holder cutter assemblies and mechanisms usually a mechanical arm for exchanging cutter assemblies between the tool magazine and the machine spindle Figure 7 5 Tool Library A tool library is a collection of tool holder cutter assemblies mounted on a tool changer Different NC part programs require different combinations of tool holders and cutters Tool libraries provide a means of storing these different combinations Soft Machines The Tooling Assembly Tool Holder 12 1 12 Station Turret P P Figure 7 4 Tool library for CNC turret lathe Developer s Guide 7 5 3 97 D o a 6 Z dD 3 e Modeling NC Tooling Tool Holder Cutter Assemblies Tool Magazine Val Figure 7 5 Tool changer for horizontal machining center 7 6 Soft Machines Cutting Tool Cutting Tool dD E O He iS zZ dD E D 3 a The class cutting_tool is created as a subclass of shape new_class cutting_tool superclass generalize shape flange frame tip frame cutter_type id diam real length real cutting_angle rangle flute_length real smurfiness boolean FELD TYPE DESC RIPTION flange frame Flange of cutting tool in_frame pose cutter Defines where the cutting tool is to be mounted onto a tool holder tip frame Tip of cutting tool in_frame pose cutter Computes cutter offsets and cutter path tracing cutter_type id ID u
185. ic dD D Developer s Guide 10 95 3 97 Using First Cut TOOLNO Format pam 1 pam 2 pam 3 pam 4 pam 5 TURRET integer char char float char or integer char The TOOLNO ADJUST n INCR statement causes each point to be adjusted n units along its axis Positive n causes an adjustment away from the part negative n towards the part An unparameterized TOOLNO statement resets the adjustment to zero see LOADTL TOOLNO TURRET TMARK GOHOME STOP on page 10 86 CL record number ignored TOOLNO ADJUST Distance by which to adjust INCR See specification under LOADTL TOOLNO TURRET TMARK GOHOME STOP on page 10 86 10 96 Soft Machines NCV Input Data Formats CYCLE Words CYCLE Formats NCV accepts CYCLE Major Words in the following forms DRILL FACE CYCLE TAP BORE REAM depth lt feedrate gt clear lt options gt w yw ws ws NS DEEP CYCLE BRKCHP depth INCR lt steps amp feedrates gt clear lt options gt CYCLE THRU depth lt step_data gt lt feedrate gt clear lt options gt CYCLE CSINK odia angle idia lt feedrate gt clear lt options gt ON CYCLE OFF NOMORE 5 S a it dD a NCV reports CYCLE MANUAL statements as errors and ignores them NCV treats all points between the CYCLE type and CYCLE OFF or CYCLE NOMORE statements as candidates
186. ime to the current point can be displayed continuously or at any time during the simulation The current volume and volume removed can be displayed during or after the simulation The images s of the machined part can be rotated a specific number of degrees about the horizontal or vertical axis at any time during or after simulation Also at any time the image can be rotated dynamically about the horizontal or vertical axis Optionally a portion of the tool path can be verified by either specifying a range of CL points or defining a box Only the defined motions will be verified Using the work in process WIP function stock and fixture models can be saved at any point during a simulation Models can be sectioned through any specified plane either by using the mouse to digitize the point at which the part is to be sectioned or by entering the coordinates and the plane normal for the point Machining of deep features can be observed by making the stock translucent or by sectioning the stock during simulation The light source can be moved dynamically and shadows can be rendered to see details of the surface finish and for better realism 10 3 5 8 a it dD a Using First Cut gt Input files the files specifying cutter motions are automatically run through conversion programs which can be either provided customized or written by the end user Product Overview First Cut accepts input da
187. ince no version is specified for arc the current version is used listed in cim options versions umodules umodules is a file which can be used to specify all modules to be included in a product The umodules file which resides in cim templates lt mytemplate gt area has syntax like the supmodules and comodules files For example to create a product with appsup11 the current version of rkintf arcweld7 and the current version of paint the umodules file would read appsup appsup11 rkintf arcweld arcweld7 paint To set up your product with a umodules file 1 Create a directory for your product cim template lt mytemplate gt 2 Create the umodules file 3 Use the ncreate_template script by entering ncreate_template template_name to create your product While creating a product ncreate_template calls the scope_out script The scope_out script reads the umodules file does the dependency checking and writes the traditional modules and versions files to your product area Using the umodules file is helpful when you want to remake an existing product and want to change the version of one of the modules you include or make an addition or deletion Soft Machines Dependency Management af Synta xX supmodules comodules and umodules files can also use if syntax An example of this syntax is machine machinel3 paint spot spot14 if arc mybuild mybuild12 appsup fi In this example machine ve
188. ines First Cut Functions Measure Menu The Measure menu is used to take measurements on the model to obtain a reading of machining times and to remove chips of material for a better view of the cut part The Measure menu is invoked from the Geometry Window Point Time CL ID Remove chips Volume Alt V 6 2 a r to N gt Figure 10 48 The Measure menu The individual functions are explained below The Point Selection Selecting Point from the Measure menu gives you the Measure Point dialog window Point Alt T Coordinates Surface normal Material thickness OK Figure 10 49 The Measure Point panel The dialog displays precise rather than approximate coordinates of the point being measured It also displays the precise surface normal the direction perpendicular to the surface and the precise material thickness Developer s Guide 10 55 3 97 Using First Cut If you measure cuts such as those above then approximate rather than precise coordinates are displayed and the dialog label changes from Coordinates to Coordinates approx Also no surface normal or material thickness are displayed If when determining the material thickness First Cut finds that the other side of the wall was created by such a cut the thickness displayed is only approximate and the label changes from Material thickness to Material
189. ing see bindings late 2 16 lathe 6 19 lexicographical comparisons 2 5 Light 10 155 Light source 10 155 light source 10 45 link 5 19 Lisp 1 2 lispob 2 11 3 34 definition 1 6 2 11 symbols 2 49 list_of constructor 2 2 list_subtype function 2 10 lists 2 2 dynamic 2 2 empty 2 3 is_list function 2 10 Developer s Guide 3 97 Index null command 2 3 type 2 3 LOADTL 10 86 local environment 1 5 Ipoint type 3 34 lrecords 2 7 2 22 3 30 passing to C 3 34 Istack 2 33 Istrings mk_static_Istring function 2 20 Istrings 2 5 2 6 M M code 8 24 adding to an NC machine 2 48 closures 8 28 executing 9 10 M table 6 21 8 6 M table 6 21 8 6 closures 8 28 machine axes 6 8 machine coordinates 6 13 machine pendant panel 6 21 machine see NC machine machine_status type 6 19 Machining times 10 57 10 150 Major 10 79 match operator 2 5 material removal simulation 7 30 Measure 10 55 CL ID 10 58 Point 10 55 Remove chips 10 59 Time 10 56 Measure Time panel 10 150 Measure Volume panel 10 151 memory allocation 2 5 MES File 10 68 messages 2 41 2 42 messages queue 2 40 2 41 meta programming 1 1 Meta Kinematics 6 4 6 8 Metal 10 10 INDEX 7 Index Metal Removal Setup panel 10 8 metaobjects 2 8 metatypes 2 8 method abstract class define_method command 2 33 fields 2 30 primitives 2 33 push method 2 30 task declaring as 2 33 tmethod 2 33 underflow 2 32 Minimum 10 73 Minimum Cutter Diameter Default 10
190. ing or after the simulation Select the Modes menu from your Geometry Window then switch on O Translucent This enables you to see into the stock as it is being cut View Dynamic Fit Colors Display Modes Measure Using First Cut Figure 10 74 Translucent mode Error Messages Note that during the session whenever an error is detected a message is displayed This message is of course also written to the Error File we mentioned previously and if you switched on O Write image at error in the Auto menu a snapshot of the screen at that point would also be written End of Simulation The message End of simulation file is displayed in the message area when the simulation is completed Developer s Guide 10 147 3 97 Using First Cut Chip Removal Now you can remove the unwanted material in the display of the part Figure 10 75 Chip removal First using the left mouse button click your cursor on the body of the part to select it and then select Measure from the top of your Geometry Window The following menu is displayed Measure Tear off Point Time CL ID Remove chips Volume Alt V Figure 10 76 The Measure menu 10 148 Soft Machines First Cut Tutorial Select Remove chips This will cause all loose material to be removed View Dynamic Fit Colors Display Modes Measure 6 2 a r to N gt Figure 10 77 Chip removal Simulat
191. ing up your simulation Also during simulation it allows you to dynamically rotate zoom or change the light source See Dynamic Menu on page 10 43 Enables you to fit the model to the window and center the origin within the window See Fit Menu on page 10 46 Enables you to set the color of cuts See Colors Menu on page 10 47 Enables you to switch on and off the display of the axes the cutter and shadows See Display Menu on page 10 48 Enables you to section the model rotate it and compare the as manufactured model with the as designed part See Modes Menu on page 10 49 Enables you to take various measurements on the part model including machining time Chip removal is also carried out here See Measure Menu on page 10 55 Table 9 3 10 12 Geometry Window selections Soft Machines Information Display First Cut Functions First Cut dynamically updates the information display throughout the simulation The display contains data regarding the items shown in the illustration Sl VUILIUl AULU VIEWS Feed p Coolnt D ate R sack H CL ID ro Q l ROHNKSM Figure 10 9 The information display fields neip In more detail the display fields are Feed This area displays the current machining parameters cutter dimensions cutter location and cutter orientation 5 S a ir D a This is th
192. ion Evaluation From the Measure button access the Measure menu again and check out the other items Point Measurements Point displays the following dialog window Coordinates Surface normal Material thickness OK Figure 10 78 Point dialog window To measure select any point on the part surface using your left mouse button Developer s Guide 10 149 3 97 Using First Cut 10 150 The dialog displays precise rather than approximate coordinates of the point being measured It also displays the precise surface normal the direction perpendicular to the surface and the precise material thickness Display of Machining Times Selecting Time displays the Measure Time panel Machining time to current CL point 0 51 32 Total machining time 0 51 32 Figure 10 79 The Measure Time panel This displays the Machining time to the current CL point and also the total calculated machining time The illustration shows the display at the end of a simulation run Obviously since you have just run your simulation the times in your display are now equal During a simulation you get the time to the current point The machining times displayed are established as follows The display is of the machining time from the beginning of the current file to the current CL point and the total machining time calculated for the file If simulation has not been started the current time is zero if simulation
193. ion Remarks MO Stop Program Set machine status M1 Optional Stop Set machine status M2 End of Program Stop simulation Disable canned cycles M3 Spindle OFF Generic spindle command For machining centers and milling machines only Table 8 2 Default M code table Soft Machines Creating SIL Tasks for NC Machines Code Description Remarks M4 Spindle ON Clockwise See M3 M5 Spindle ON See M4 Counterclockwise M8 Coolant ON Set machine status coolant g M9 Coolant OFF See M9 i M10 Clamp Set machine status clamps 3 M11 Unclamp See M10 Table 8 2 Default M code table continued Many G and M codes simply change the machine status variables declared in nc_machine status It is the developer s responsibility to ensure the simulated machine behaves according to these variables IMPORTANT To build a quick prototype we can copy the two default tables and attach them to a new NC machine model We use the commands copy_gtable and copy_mtable ok copy_gtable default_gtable lt target_gtable gt ok copy_mtable default_mtable lt target_mtable gt where lt target_gtable gt is an array of g_function for G codes and lt target_mtable gt is an array of gcode_closure for M codes and ok is a boolean The default tables can then be used as the foundation for further development and customization Machine dependent G is illustrated in Example 8 2 Developer s Guide 8 7 3 97
194. irst Cut windows Cancel will return you to First Cut Model Menu The Model pulldown menu provides model manipulation capabilities including stock and fixture definition Stock and fixtures can be created using the Model menu They may be created from a box a cylinder or a profile sweep or read in from an SLA file The procedures for creating stock and fixtures are identical only differing by the Type displayed in the dialog box Create stock Create fixture Read SLA part file Set type Delete Translate Rotate Scale Figure 10 15 The Model pulldown menu Stock is displayed in wireframe mode in light blue fixtures are drawn in white The options on the Model menu are explained in the following sections 10 22 Soft Machines First Cut Functions The Create stock selections The Create stock selections are used to select the type of stock geometry o enn Cylinder Profile sweep Read SLA file Figure 10 16 The Create stock selections Creating a Box The Create Box panel is used to create a stock or fixture box orthogonal to the coordinate axes using two corner points Selecting Box from the Create stock or Create fixture selections displays the Create Box panel Corner 1 Corner 2 Type Stock Use bounding box Offset 0 5 Mo Figure 10 17 The Create Box panel You can either enter the coordinates of the corners of the box in the fields or click Use bou
195. is assumed to be 0 0 0 For added convenience a pose may be specified with six numbers The first three indicate the Cartesian position and the last three indicate the yaw pitch roll orientation mk_pose lt xc gt lt yc gt lt zc gt lt yaw gt lt pitch gt lt roll gt Soft Machines Geometric Operators This Cartesian yaw pitch roll description is the default of poses used in Soft Machines Example 4 2 Some examples specifying poses are mk_pose mk_sph 1 2 3 mk_ypr 90 0 30 mk_pose position_1 mk_xyz 30 45 0 mk_pose table_orientation mk_pose 30 50 74 2 90 90 0 As an aid in visualizing poses they can be displayed as frames using the show command show lt pose gt The specified pose will be displayed as a frame whose origin is the point specified by the position component of the pose and whose axes represent the orientation component of the pose Poses displayed with the show command remain visible as frames only temporarily they disappear the next time the graphics display is updated Geometric Operators 8 Be 3g E Be 2 All positions orientations and poses are absolute In other words the assumed reference is the Universe frame whose pose is the null absolute pose described in Cartesian and yaw pitch roll terms as 0 0 0 0 0 0 You may find it convenient to think of poses in relation to reference frames other than the Universe frame For instance given cutter mac
196. is to contain one cutter definition per line D R E F Alpha Beta H NS separated by blanks e g 10 2000 0 30 24 where NS is an optional value specifying the number of sides on the cutter The file is indexed by T codes the first line is TO1 There must be at least one line at most 99 Soft Machines NCV Input Data Formats g data This is a three or four line file used for miscellaneous data line 1 Reference location X Y Z separated by blanks e g 0 0 100 line 2 value 1 to indicate that decimal points are used value 0 if decimal points are not used line 3 100 if units are 1 100 mm or 1 100 in 1000 if units are 1 1000 mm or 1 1000 in line 4 This line is optional It is used to specify whether you wish the machine controller to interpret I J and K values as incremental or absolute values based on the G90 and G91 codes In this fourth line use value 1 if the interpretation of I J K codes depends on G90 and G91 codes value 0 if I J K are always interpreted as incremental oO o a a re to a gt d data This file contains cutter offset data It is required only if D codes are used If the file is required but is not present then NCV will stop reading the input file at the point the D code is seen The file contains one D register value per line Indexed by D codes first line is DO1 If a D code is used in the input file that is out of the range of values in th
197. itted c_circ_res is used 2 3 LG Operator Resulting Shape gt pipe lt radius1 gt lt radius2 gt lt height gt cylindrical E 8 lt resolution gt volume model with inside and outside radius Developer s Guide 5 13 3 97 Modeling Using SL Commands Cone resolution specifies the number of triangular facets in the circumference of the cone if omitted the value of the global variable c_circ_res is used Operator Resulting Shape cone lt radius gt lt height gt lt resolution gt cone Frustum radius base radius radius2 top radius resolution specifies the number of trapezoidal facets in the circumference of the frustum if omitted the value of the global variable c_circ_res is used Operator Resulting Shape frustrum lt radius1 gt lt radius2 gt lt height gt truncated cone L lt resolution gt Model Operators 5 14 In addition to the model constructors Soft Machines provides a number of functions which you may apply to models in order to change their characteristics These functions are called model operators A list of the model operators and a brief description of each follows The invert Operator The invert operator returns a model whose facets face in the direction of their original direction This has the effect of turning the model inside 29 invert lt shape gt Soft Machines Model Operators The glue Operator The glue operator is used to convert a workc
198. k 2 x tan 5 Sample NCV File 2 PARTNO NC VERIFICATION FILE FORMAT 3 TLAXIS 0 5547 0 8325 0 0 4 LOADTL 5 CUTTER 1 0000 0 120 0 3800 0 120 0 0 0 0 2 00 8 FROM 10 0 10 0 10 0 12 SPINDL CLW 1250 00 14 FEDRAT IPM 12 50 18 RAPID 24 COOLNT FLOOD 32 GOTO 1 0 1 0 2 0 36 GOTO 3 0 3 0 4 0 38 GOTO 1 0 4 6 2 0 40 MULTAX ON 62 FROM 1 1079 0 300 3 0009 0 000 1 0 0 0 65 GOTO 1 1502 0 300 2 9557 0 000 1 0 0 0 66 PPRINT TRUE C 1 4000 0 110 0 3800 0 120 0 0 0 0 10 00 69 GOTO 4 1958 0 300 2 9141 0 000 1 0 0 0 76 GOTO 4 2958 0 310 2 9141 0 000 1 0 0 0 79 CUTTER 1 0000 0 120 0 3900 0 120 0 0 0 0 2 00 80 GOTO 4 3958 0 320 2 9141 0 000 1 0 0 0 83 GOTO 4 4958 0 330 2 9141 0 000 1 0 0 0 Soft Machines NCV Input Data Formats 96 GOTO 4 5958 0 340 2 9141 0 000 1 0 0 0 97 LOADTL 99 CUTTER 1 2000 0 120 0 3800 0 120 0 0 0 0 2 00 103 GOTO 4 6945 0 350 2 8415 0 000 1 0 0 0 104 GOTO 5 0000 0 350 2 8415 0 000 1 0 0 0 108 COOLNT OFF 109 FINI This file would be interpreted as follows 2 PARTNO NC VERIFICATION FILE FORMAT The part number is displayed at the top of the screen during simulation 3 TLAXIS 0 5547 0 8325 0 0 The tool axis is changed from its default of 0 0 0 0 1 0 4 LOADTL NCV prepares to accept the next cutter as a physical tool definition Any CUTTER statements that are not preceded by a physical tool change major word will be ignored oO o a a re to a gt 5 CUTTER 1 0000 0 120 0 38
199. l power up base_jv jv Join vector of machine at base frame move_handle string Move handle for machine end effector pendant mnode Machine pendant panel monitor mnode Machine monitor panel g status machine_status Machine status 5 o s 2 Developer s Guide 6 7 3 97 Modeling NC Machines gtable array_of g_function G code table mtable array_of gcode_closure M code table translator gc_translator G code translator rules list_of gc_rules Machining rules Defining NC Coordinate Systems Axes Convention The fields x_axis y_axis z_axis a_axis b_axis c_axis type string x_link y_link z_link a_link b_link c_link type integer map the machine axes to robot joint vectors JV in Soft Machines An example of a 3 axis vertical machining center VMC is shown in Figure 6 3 This is necessary because kinematics models SILSPECs created by SILMA Meta Kinematics follow common robotics conventions for example in robotics the term link is used instead of axis Specifically the fields x y z a b c _ axes contain the names of the shapes corresponding to the X Y Z A B and C axes respectively In Figure 6 3 the object corresponding to the X axis of the machine is LINK2 so the field vme x_axis contains the string LINK2 Since LINK2 is a child descendant of the machine model its full path name is VMC LINK2 or concat name vmc vmc
200. les The fields gtable type array of g_function and mtable type array of gcode_closure are arrays of task closures linking G and M codes to SIL tasks Similarly the field translator is a closure pointing to the G code translator attached to the machine model REMINDER Closures and tclosures on page 2 42 provides a detailed description Machine Pendant Panel A customized machine pendant panel is attached to the pendant type mnode field of nc_machine After a machine pendant panel has been constructed it can be inserted to the nc_machine object class by using vmc pendant vmc_ncv pendant for machine VMC where vmc_nev is the ncv support module for machine VMC NOTE For information on creating panels and customizing the menu interface contact SILMA an 3 De 35 Sa of Developer s Guide 6 21 3 97 Modeling NC Machines Summary The sequence for constructing an NC machine can be summarized as follows 1 Construct kinematics model of machine SILSPEC with SILMA Meta Kinematics 2 Define machine parameters such as reference base and working coordinates 3 Determine simulation strategy forward versus inverse kinematics 4 Develop machine specific tasks and routines such as tool changes interface to external tooling database etc 5 Construct G and M tables by combining machine dependent and machine independent tasks 6 Construct a special machine pendant panel 7 Cons
201. lts 10 74 Tool Axis Default 10 74 Feedrate RAPID Override 10 74 Cutter Facets 10 74 Example Control File 10 75 NCV Input Data Formats 10 76 NCV File Format Specifications for Custom CL File Conversion 10 77 Basic Structure for File Formats 10 77 Numeric Convention 10 78 Major Word Table 10 79 10 79 BOX 10 79 BREAK 10 79 CALL CXCIR or CALL ATPCIR 10 80 CBOX 10 80 COOLNT 10 81 CUTTER 10 81 CYCLE 10 81 CYL 10 82 ENVECT 10 82 FBOX 10 82 FCBOX 10 83 x Soft Machines FCYL 10 83 FEDRAT 10 84 FINI 10 84 FROM 10 85 GODLTA 10 85 GOHOME 10 85 GOTO 10 86 LOADTL TOOLNO TURRET TMARK GOHOME STOP 10 86 MULTAX 10 87 NSIDES 10 87 PARTNO 10 87 PPRINT 10 88 PPRINT BREAK 10 88 PPRINT COLOR 10 89 PPRINT HOLDER NAME 10 89 PPRINT IMAGE 10 90 PPRINT TRUEC or PPRINT TRUE C 10 90 PPRINT WIP NAME 10 91 RAPID 10 91 REMARK 10 91 ROTABL 10 92 SPINDL 10 92 SPROF 10 94 SPPROF 10 94 STVECT 10 94 STOP 10 94 TLAXIS 10 95 TMARK 10 95 TOOLNO 10 96 TURRET 10 96 CYCLE Words 10 97 CYCLE Formats 10 97 CYCLE Parameters 10 97 Common Options 10 99 RAPTO depth 10 99 DWELL 10 99 Developer s Guide 3 97 Table of Contents xi Table of Contents xii DRILL Cycle FACE Cycle TAP Cycle BORE Cycle REAM Cycle DEEP Cycle Examples of Usage BRKCHP Cycle THRU Cycle CSINK Cycle Sample NCV File Sample Control File Sample Stock Definition in NCV File SLA File Format G Code Input G Codes Supported Ot
202. ly allocates a brand new null terminated cstring with capacity equal to that of x and copies x into it The storage for the resulting cstring can be freed with free_cstring function new_cstring x Istring cstring Developer s Guide 2 19 3 97 Object Oriented Programming in SIL This procedure frees the x estring which has been created dynamically by new_cstring procedure free_cstring x cstring This procedure copies c to x stopping at a null in c or the capacity of x whichever comes first procedure copyto x Istring c cstring The following procedure copies x into c Since c has no length indication this can be dangerous if c was allocated to be shorter than the current length of x then the memory after c s length allocation will be deleted procedure copyto c cstring x Istring The print function for estrings will print characters until a null is hit or the limit max_cstring_print_length is reached max_cstring_print_length is initially 100 If you want to allocate an Istring to be passed to C you may wish to use function mk_static_Istring x string n integer Istring or function mk_static_Istring x string Istring Either of the above functions are used to construct Istrings that are already static and null terminated This procedure will cause the contents of x to become static and null terminated if they are not already procedure
203. m tool changes will be explained in the following chapters Machine Status In order to monitor the status of a machine during simulation the object class nc_machine includes the field status type machine_status which is being updated as simulation progresses Type declaration for machine_status is as follows type machine_status Irecord current_gcode darray of integer current_mcode list of integer current_state string programming string interpolation string spindle string coolant boolean clamp boolean unit string feed string feed_override real end So ae 33 b Developer s Guide 6 19 3 97 Modeling NC Machines FIELD TYPE DESC RIPTION current_gcode darray of integer current_mcode list of integer current_state string programming string interpolation string spindle string coolant boolean clamp boolean units string feed string feed_override real Active G codes Active M codes State of machine idle or running Programming mode absolute or incremental Interpolation linear arc cw arc cew Spindle status off cw ccw Coolant status TRUE on or FALSE off Clamp status TRUE clamp or FALSE unclamp Units used inch or metric Feed specification in F parameter linear spindle surface rpm Feed override 0 to 1 Table 6 2 machine_status field descriptions 6 20 Soft Machines G and M Tables G and M Tab
204. matically for each new tool 10 36 Soft Machines First Cut Functions Auto enables you to define functions that you wish to be executed automatically during a simulation The Auto menu is invoked from the Metal Removal Window and looks like this File Model Control Auto Views Help Set up Simulate Change color at cutter change Alt C Play back _ and repaint J Solid cutter ToEnd Continuous display of cutter 1 Write image at cutter change _ Write image at error lt Enhance when writing image lt Record Alt R 1 Ignore holder and shaft Slow Stop hn 6 Gi D ic D D Figure 10 32 The Auto menu The Change color at cutter change Switch Selecting 4 Change color at cutter change changes the color of the cuts each time a cutter change is encountered in the NCV input file The color cycle order is the order shown in the Colormenu in the Geometry Window see Colors Menu on page 47 Once all colors are used the cycle begins again The and repaint Switch Selecting 4 and repaint automatically selects 44 Change color at cutter change Selecting this button repaints all cuts in the last color yellow green before restarting the cycle Using this button can aid you in inspecting the image by allowing you to see the work carried out by up to the ten most recent cutters Developer s Guide 10 37 3 97 Using First Cu
205. mk_static x Istring 2 20 Soft Machines Casting C Constants at Build Time Builds are described in Chapter 3 Working with SIL Code C data structures can only be safely created at build time by using the construct cstring_constant aa abc Object Oriented This has exactly the same effect as 7 S to S E E nS Do e a aa mk_cstring abc except that cstring_constant records the need to reset aa when a state starts up making it safe for use in compiled code Casting In SIL an expression s type can be modified by the as_type operator The effect of this operator is analogous to that of the C cast primitive it asserts that the value of the expression should be treated as belonging to a specified type whatever the type originally assigned to the expression may have been The syntax is lt expression gt as_type lt type gt Developer s Guide 2 21 3 97 Object Oriented Programming in SIL Example 2 6 continued A solution would be to cast 30 to type dangle with the following expressions SIL gt d1 30 as_type dangle To continue with our example SIL gt d2 d1 pi 4 SIL gt var r1 real SIL gt r1 d2 as_type real SIL gt r t 75 0000000 Not all as_types are legal The rule which has a few exceptions given later is that the data format of the value to be cast must agree with the d
206. mk_vmc_tdata 16 16 0 625 DRILL 0 625 mk_point 0 0 8 mk_vmc_tdata 17 17 EMPTY 0 null_ point mk_vmc_tdata 18 18 EMPTY 0 null_ point mk_vmc_tdata 19 19 EMPTY 0 null_ point mk_vmc_tdata 20 20 EMPTY 0 null_ point mk_vmc_tdata 21 21 EMPTY 0 null_ point mk_vmc_tdata 22 22 EMPTY 0 null_ point mk_vmc_tdata 23 23 EMPTY 0 null_ point mk_vmc_tdata 24 24 EMPTY 0 null_ point mk_vmc_tdata 25 25 EMPTY 0 null_ point mk_vmc_tdata 26 26 EMPTY 0 null_ point mk_vmc_tdata 27 27 EMPTY 0 null_ point mk_vmc_tdata 28 28 EMPTY 0 null_ point mk_vmc_tdata 29 29 EMPTY 0 null_ point mk_vmc_tdata 30 30 EMPTY 0 null_ point active_tlib is a global variable of type tool_lib active_tlib aux vmc_tool_data as_type universal To retrieve the auxiliary data from a tool library the aux field can be cast from type universal to the data type we want In Example 7 5 the aux field in the global variable active_tlib contains two possible data types The first step is to validate the data type using the type_of operator then cast the aux field accordingly if type_of active_tlib aux type_of kt_moduline_tool_data then my_tool_data active_tlib aux as_type darray of kt_tdata if type_of active_tlib aux type_of vmc_tool_data then my_tool_data active_tlib aux as_type darray of vm
207. mode G1 linear motion G2 circular motion etc may look the same from the part programmer s port of view but the motion algorithms used to execute these commands need to be customized for each machine Developer s Guide 2 47 3 97 7 to E E nS Do e mS a Object Oriented Programming in SIL 2 48 This is easily accomplished in Soft Machines by adding two arrays of tclosures to the object class nc_machine one array for G codes and the other for M codes type gcode_closure tclosure gcode_status nc_machine gcode_info type g_function lrecord group integer cl gcode_closure end new_class nc_machine superclass generalize robot gtable array_of g_function mtable array_of gcode_closure translator gc_translator 35 To insert or change G and M codes of an NC machine we use the procedures add_gcode and add_mcode procedure add_gcode code group integer task_id id table array_of g_function begin table code mk_g_function group mk_closure task_id task gcode_status nc_machine gcode_info end procedure add_mcode code integer task_id id table array_of gcode_closure begin table code mk_closure task_id task gcode_status nc_machine gcode_info end Soft Machines Symbols To continue with Example 2 18 we can add M6 to the nc_machines vmc and deckle_dz4s as follows add_mcode 6 vmc
208. mplemented by an Istack For astack a Object Oriented 7 to E E nS Do e mS a use_methods a Istack installs all of the standard methods for astack associated with Istack into a The pop method does not get installed by define_methods because ipop is the abstract method name while pop is the implementation name To remember the argument order for the above primitives an easy rule is Abstract information always precedes the concrete information in the argument order Methods can be declared to be tasks rather than procedures by using the keyword tmethod rather than method The mnode Class mnode is an abstract class and is the class of all screen items widgets The word mnode comes from node in the menu tree Actual widgets are built by subclassing and or splicing an mnode Developer s Guide 2 33 3 97 Object Oriented Programming in SIL Concurrency 2 34 This section explains how to use SIL for concurrent execution of multiple tasks within one state or data space This section contains these topics gt Tasks gt Tickers Semaphores gt Pipes gt Processes SIL maintains a global variable called clock which measures the passing of simulated time Certain SIL commands cause clock to be advanced when they are called Commands that consume simulated time are called temporal Non temporal commands are called instantaneous A block of instantaneous commands
209. must set circular interpolation to off You must give the APT file an extension of catia although this is customizable The CATIA input converter ncvin catia is shipped with the product If you want to use another filename extension for your APT files this file should be renamed to that extension e g if you suffix your files with cat then rename or copy the converter to ncvin cat Soft Machines NCV Input Data Formats E The CATIA input converter ignores the following APT statements INTOL OUTTOL LINTOL ROTHED SEQNO PREFUN INSERT ORIGIN Tool Holders Tool holders can be modeled Collisions of the tool holder against the stock or fixtures are detected and reported You can also specify a flute length for each cutter the length of the portion usable for cutting Attempts to cut with the shaft the portion of the cutter above the flute length are detected and reported Tool holders are solids of revolution They are described in a library whose format is described below The library file is named ncvholder lib but this can be changed in the application defaults file Never The tool holder to be used for a particular cutter is specified using the PPRINT HOLDER lt name gt statement The PPRINT HOLDER statement applies to all following CUTTER statements until the next PPRINT HOLDER If no name is specified no holder is used for the affected cutters For each holder in the library a flute length can be speci
210. n Leonhard Euler 1707 1783 who contributed many important theorems to the science of kinematics Like yaw pitch roll Euler angles describe orientation by sequential axis rotations The difference is that the rotations are not about the axes of the fixed reference frame copy as they are with yaw pitch roll rotations they occur about the new axes of the frame after each rotation In general any series of three rotations in which each successive rotation is about one of the new X Y or Z axes is a set of Euler angles For example one commonly used convention is Z Y Z Euler angles An orientation given in Z Y Z Euler angles is the result of first rotating the frame about the Z axis of the reference frame copy with which it is initially coincident then rotating about the new Y axis and finally rotating about the new Z axis Many six degree of freedom robots have wrists which emulate this Z Y Z orientation The geometric type provided by SIL for describing Z Y Z Euler angle orientations is zyz Z axis Y axis Z axis A Z Y Z Euler angle orientation may be constructed with the command mk_zyz lt rotz1 gt lt roty gt lt rotz2 gt Another Euler angle set is X Y Z An orientation given in X Y Z Euler angles is the result of first rotating the frame about the X axis of the reference frame copy with which it is initially coincident then rotating about the new Y axis and finally rotating about the new Z axis The geometric type provi
211. n SIL code These facilities make use of a well defined directory structure for storing the various files relevant to the system The procedures used to compile are more complex than those used to load interpreted code partly because the underlying structure has been set up to support the maintenance of multiple versions of compiled code You should understand this structure before compiling your code All files having to do with Soft Machines reside under a master directory called cim The collection of all Soft Machines files and directories that is all the files and directories under cim is referred to as the cim tree The cim tree may be located anywhere in a UNIX file system All Soft Machines users should have a CIM environment variable whose value is the pathname of the cim tree It is also helpful to have a link from the home directory to the cim tree called cim The following information assumes that cim points at the cim tree Code in Soft Machines is divided into modules A module is simply a grouping of related code The source code for Soft Machines itself is spread throughout approximately 100 modules one for 2D geometry one for 3D geometry one for menu handling etc Each module may have an unlimited number of versions The Soft Machines tree structure is set up so that different versions of the same modules share files Each module and each of its versions has a name There are no hard and fast rules for naming the modul
212. n checking for the holder and there will be no collision checking for the tool shaft i e above the flute length 10 39 Using First Cut Windows Menu The Windows pulldown menu enables you to create additional views of the simulation File Model Control Auto Views gt Set up Create view Alt V vy Simulate Figure 10 33 The Views menu Help The Views menu accessed from the Metal Removal Window has one item Create View which allows you to create a new Geometry Window to view the simulation You may create as many views as you wish and they may overlap You define the view you want in each window using the View and Dynamic menus in the Geometry Window as described in View Menu on page 42 and Dynamic Menu on page 10 43 You can create new Geometry Windows only in Set up NOTE mode Help Menu On line assistance is provided by the NCV Help button accessed from the Metal Removal Window File Model Control Auto Views Feed Set up eso ines Simulate D Tutorial R vy Play back H Index Alt H On version Go Figure 10 34 The Help menu 10 40 Soft Machines First Cut Functions The Help facilities are Tutorial Displays the on line tutorial Index Displays an index of the Help topics from which you can select the subject you wish to read On Version Displays the version number of NCV Geometry Wi
213. n one line have a box around them The code sometimes contains variables indicated by lt gt symbols function f x A lt a1 gt lt type1 gt lt result type gt Var begin end SiLCode Examples The examples are printed in gray boxes They include explanatory text and code The code may be entered as shown Example 1 1 Assignment statements x sin y X X 1 table 6 0 employee salary x Procedure calls writeln hello world deposit account 50 00 Rules Rules are shown with a dark gray title bar and a box around the rule lt sequence gt begin lt statement gt lt statement gt end Windows Windows that are part of the display are indicated in talics Examples Quick Pick Window and Graphics Window Soft Machines Manual Conventions Filenames This typeface is used for filenames Example default sil isa file Keys Keyboard keys are indicated by the lt gt symbols enclosing the key in capital letters in THIS TYPEFACE Example lt RETURN gt is a key The Top Bar Pulldown menus from the top bar are indicated with bold letters in This Typeface Example File is a pulldown menu Panels Panels are indicated with This Typeface Example Collision Detection is the title of the panel that is displayed when you choose Collision Detection from the Utilities pulldown menu Pulldown Selections and Comma
214. nd moved to the pose where the reference frame is located It is then affixed to the machine or one of its subparts depending on the kinematics as shown in Figure 6 4 The field ref in class nc_machine contains the name of the reference shape To move the machine vmc to x y z in the NC coordinate frame moveto vmc move_handle mk_crt x y z in_frame pose vmc ref or moveto vmc move_handle pose vmc ref mk_crt_ypr x y z 0 0 0 an 3 De 35 Sa of Developer s Guide 6 11 3 97 Modeling NC Machines To change the NC reference to a new location we can simply unaffix the reference shape from the machine and move it to a new location Example 6 1 Suppose the move_handle for machine m has the coordinates x y z relative to the new reference frame The new reference location can be defined as follows unaffix m ref name m imoveto m ref mk_crt x y z rel pose m move_handle affix m ref name m In this case the reference shape is affixed to the machine i e the base of the NC machine In some cases such as those for milling machines it may be affixed to table of the NOTE machine which is one of the links in the SILSPEC imoveto means internal moveto and does not consume any simulated time changing coordinate system in a machining operation does not take any real time Many machine controllers let us define more than one reference frames For example 6 part coordinates
215. nding box to establish the coordinates Developer s Guide 10 23 3 97 P 6 2 Le e Using First C ut Use bounding box creates the smallest box that completely encloses the tool paths The size of the box may be modified by entering a value for Offset Offset increases the size of the bounding box in all directions by the value entered that is it offsets each face so an offset of 0 5 increases each dimension by 1 0 Click OK to create the box or Cancel to dismiss the panel Creating a Cylinder The Create Cylinder panel is used to create a stock or fixture cylinder Selecting Cylinder from the Create stock or Create fixture selections displays the Create Cylinder panel Create Cylinder Axis pt 1 Axis pt 2 p pa o Diameter Type OK Cancel Figure 10 18 The Create Cylinder panel The cylinder axis is determined by the endpoints To define a cylinder Step 1 Enter the X Y Z coordinates of the two endpoints Step 2 Enter the cylinder diameter in the Diameter field Step 3 Click OK 10 24 Soft Machines First Cut Functions Creating a Profile Sweep Selecting Profile sweep from the Create stock or Create fixture selections displays the Create Profile Sweep panel Create Profile Sweep Profile point 1 Start pt End pt 1S a it D D Type ox Figure 10 19 The Create Profile Sweep panel To de
216. ndow Functions When you read an NC file a Geometry Window is created automatically and the stock fixtures and tool path are displayed in wireframe oO y WL ke N Figure 10 35 A Geometry Window You can create more Geometry Windows using the Views menu in the Metal Removal Window see Windows Menu on page 40 When you enter Simulation mode from the Metal Removal Window the wireframe model is shaded in all your Geometry Windows Developer s Guide 10 41 3 97 Using First Cut 10 42 At the top of the Geometry Window are pulldown menus to control the views of the part and evaluate the simulation These are described below View Menu Figure 10 36 The View menu The view descriptions are based around the coordinate system the view shown in the illustration is the front where you are looking down the positive Z axis if you selected Bottom then you would be looking at the other side from the negative Z axis Similarly a Right view would be from the positive X axis and so on The Flip button is available only in Simulation mode this enables you to rotate the part through 180 degrees around whatever is your current vertical axis e g from a front view the image will be flipped over to a back view Selecting Flip again returns the part to the original view If you select Close while in Simulation mode you will be asked to confirm that you wish to remove the window
217. nds Selections from the pulldown menus commands and command buttons are indicated with Italics in this Typeface Examples Install is a selection from the File menu Apply is a command Toggle Choices Toggle choices are shown with a symbol in front of the label Example Checks is a toggle choice Switc hes Switches are shown with a Q symbol in front of the label Example Ll Show Reference Frame Developer s Guide xvii 3 97 Using this Manual Fields and Messages The label and the information in the field are in this typeface Example Edge Length displays 1 0 in its field Messages such as instructions and error messages that pop up or are displayed in the panels are quoted using this typeface Example Pick any edge of an object Notation This manual uses simplified grammatical rules which resemble BNF to describe syntactic forms This section describes these rules completely These rules use the following form lt A gt exp where lt A gt is a non terminal symbol and exp is a string of terminal and non terminal symbols Interpret the above rule to mean that all occurrences of the non terminal symbol lt A gt can be replaced by the string exp The goal of a rule such as that described above is to derive syntactically valid strings of non terminal symbols by repeatedly applying all available rules to a given string until all non terminal symbols have been replaced Five conventions are associated wi
218. ne On extremely deep holes this ensures full tip clearance and also gives the coolant a chance to reach the bottom of the hole DRILL Cycle The DRILL cycle performs a sequence of operations equivalent to the G81 fixed cycle in ISO 1056 If a DWELL option is specified with DRILL the FACE cycle is used The basic syntax is as follows IPM IPR MMPM MMPR CYCLE DRILL depth feed value clear RAPTO start 10 100 Soft Machines NCV Input Data Formats seconds DWELL REV revolutions The DRILL cycle causes the following motion to occur at each valid point within the cycle CYCLE DRILL f IPM feed value r 1 Position at rapid to r above the control point y 2 Feed a distance f r at feedrate inches minute r l of F Rapid retract to a position r above the control point 5 p i l P N FACE Cycle The FACE cycle performs a sequence of operations equivalent to the G82 fixed cycle in ISO 1056 The DWELL option should be specified If not the last DWELL specified or the zero default value will be used The basic syntax is as follows IPM CYCLE FACE depth ae feed value clear RAPTO start MMPR seconds zi DWELL REV revolutions Developer s Guide 10 101 3 97 Using First Cut The FACE cycle causes the following motions to occur at each valid point within the cycle CYCLE DRILL f IPM feed
219. nes First Cut Tutorial You can leave the other system settings e g color switches as they are for the moment and we won t bother to record this session unless you want to In your view of the part which is a clevis select View and so to get an isometric view of the part and then Fit the part into the window View Dynamic Fit Colors Display Modes Measure ar Eh u e a VC et hn 6 D ic D D Figure 10 90 Isometric view of the clevis Developer s Guide 10 159 3 97 Using First Cut Read in SLA File of the As Designed Part Now return to the Metal Removal Window and select the Model button which will display the following menu Create stock Create fixture gt Read SLA part file Alt S Set type gt Delete Alt D Translate Alt T Rotate Scale Figure 10 91 The Model menu 10 160 Soft Machines First Cut Tutorial Select Read SLA part file and you will see a panel similar to the Read NC File panel which you have seen before but this time set up to read files with the suffix st1 which is the convention used generally for SLA files Filter plus2 ncv demos stl Directories lus2 ncv demos plus2 ncv demos Selection plus2 ncv demos SLA Files clevis stl H any 6 Gi D ic D D OK Filter Cancel Figure 10 92 The Read SLA File panel Select the fil
220. ng You are free to reset debug_frame thus changing the behavior of the single argument variant of ev In our example the error was caused by an explicit SIL error statement Other errors arise from the usual UNIX error conditions access violations arithmetic errors interrupt signals etc Regardless of the source of the error the behavior of the error break is the same The command Error gt r0 returns control to the top level SIL loop that is it exits the error break and cleans up the stack Continuing from the error along the same course of computation that caused the error is not possible However you can include statements in your code which will cause a pause break a break with behavior identical to an error break but one from which computation can be continued using the go command This command is S 0 a on z ppause x string Using the command and argument above results in x being printed out when the pause break is entered Example 3 13 provides an extended example of ppause Developer s Guide 3 27 3 97 Working with SILCode 3 28 Soft Machines Calling C Code from SIL Debugging in Menu Mode This section discusses debugging code which causes errors while you are still using the menus and panels The following SIL flag to_text_mode_on_error controls what happens when an error condition is encountered in menu mode When the flag is set to true any error encountered by the system
221. ng G Code into SIL Data Type gcode_info Data Type G Code Reader Reading a G Code Statement Reading a G Code File Executing G and M Codes Subroutines and Synchronized Cutting Chapter 10 Using First Cut Introduction to First Cut Product Overview vi 7 11 7 14 7 17 7 25 7 26 7 28 7 29 7 29 7 30 7 32 8 2 8 2 8 8 8 8 8 15 8 18 8 23 8 23 8 29 8 30 8 30 9 2 9 3 9 3 9 5 9 6 9 7 9 10 9 12 10 1 10 4 Soft Machines Table of Contents Operation and User Interface First Cut Simulation Overview User Interface General Features First Cut Functions Introduction to the Windows Used for First Cut Functions Using the Metal Removal Setup Panel Defining the Stock Setting the Cutter Display Simulate Mode Metal Removal Window Geometry Window Information Display Feed Coolnt D R H CL ID X YZ I J K Metal Removal Window Functions File Menu The Read NC File Panel Input Name Conventions and Pre Processing Output Name Conventions Scroll Bars The Read WIP file Selection The Write WIP file Selection The Write image file Selection The Use playback file Selection The Read batch file Selection The Exit Selection Model Menu Developer s Guide 3 97 The Create stock selections Creating a Box Creating a Cylinder Creating a Profile Sweep 10 5 10 6 10 7 10 8 10 8 10 9 10 9 10 9 10 9 10 10 10 11 10 13 10 13 10 14 10 14 10 14 10 14 10 14 10 14 10 14 10 15
222. nments global 1 5 local 1 5 EOF 3 7 equivalent angle axis 4 9 4 13 4 15 erb type 2 17 Error 10 147 error break 3 23 3 27 error logging 8 29 8 30 Error gt prompt 3 23 Euler angles 4 9 4 12 see also geometry ev command 3 27 execute function 2 16 F FACE 10 101 facet operator 5 4 facet adding 5 4 FBOX 10 82 FCBOX 10 83 FCYL 10 83 FEDRAT 10 84 Feed 10 13 Feedrate 10 74 feedrate 8 6 field selectors 1 8 file Soft Machines sil extension 3 11 compiling 3 15 directories and organization 3 8 header 3 10 initialization 3 11 loading 3 11 reading amp writing to 3 5 File Conversion Program 10 67 File Management 10 63 File Menu 10 15 Read batch file 10 21 Read WIP file 10 19 Use playback file 10 21 Write image file 10 20 Write WIP file 10 19 Filter 10 16 FINI 10 84 First 10 2 Fit 10 46 Fixture Definition 10 70 flange 6 10 Flipping 10 154 for statement 1 10 1 11 Form 10 128 Format of ncvholder lib 10 126 forward kinematics 6 15 8 15 frame 4 2 reference 4 17 frame numbers 3 25 free_cstring procedure 2 20 FROM 10 85 frustrum operator 5 14 frustum adding 5 14 function 7 24 definition 1 13 is function function 2 10 function applications 1 8 function constructor 2 2 funnel operator 5 7 funnel adding 5 7 G G 10 120 Developer s Guide 3 97 Index g 10 122 10 123 10 124 G code adding to an NC machine 2 48 closures 8 28 data type 9 3 executing 9 10 G table 6 21 8 3 8 24 customizing 8
223. ns of input are in Converting a CL File cltoncv on page 10 66 and NCV Input Data Formats on page 10 76 Output Name Conventions Developer s Guide 3 97 never out is the file that contains the message log maintained by First Cut during your entire simulation session This file contains all messages including error messages that were reported during the session Other output files are named using the first 6 characters of the NC program file name followed by a 3 digit serial number indicating the sequence of the message followed by a suffix as follows 10 17 Using First Cut wip work in process xwd an image file play a session recording file Scroll Bars Note the scroll bars to the right and below the lists of directories and NC files If you put your cursor on the scroll bar you can scroll up and down the lists or from left to right of any name Changing the entry in the Filter box and then clicking Filter at the bottom of the window causes the list of files to be replaced by those matching the new filter If you select a file with a single click of the left mouse button the name will appear in the Selection box and you can then select OK to read in the file Alternatively a quick double click on the file name also causes it to be read in As the file is read in the Read NC File dialog is dismissed and First Cut creates a Geometry Window with a wireframe model of the stock and tool path
224. nsurf mk_cnsurf pc1 pc2 pc3 pc4 pcurve k cnsurf integer The next variants for surfaces ensure that if any rectilinear curve is revolved about an axis or if any cylinder is built on a rectilinear curve the subdivision that is generated will respect the vertices of the curve and not round them Note that a shape is returned and not one of the surface types The subshapes of this shape are the rectilinear dsurface and or smooth psurface pieces of the shape The variables with_top and with_bottom give the resultant shape a top or bottom respectively Note that the axis of rotation is along the Z axis of the World coordinate system Soft Machines Modeling Constructors Operator Resulting Shape mk_rvsurf_shape pc pcurve theta real shape with_bottom with_top boolean mk_rvsurf_shape pc pcurve theta real shape mk_rvsurf_shape pc pcurve shape mk_rvsurf_shape pcs list of pcurve theta real shape with_bottom with_top boolean mk_rvsurf_shape pcs list of pcurve theta real shape mk_rvsurf_shape pcs list of pcurve shape mk_rvsurf_shape ax seg3dr pcs list of pcurve shape theta real with_bottom with_top boolean mk_rvsurf_shape ax seg3dr pcs list of pcurve shape theta real mk_rvsurf_shape ax seg3dr pcs list of pcurve shape with_bottom with_top boolean mk_rvsurf_shape ax seg3dr pcs list of pcurve shape Geometic Constructors Conic Constructors Let z be
225. nt specifies a level list which will be the only level converted Specifying a level list prevents Soft Machines from converting all levels Soft Machines will return the model value type iges_to_model lt filename gt lt model name gt This variant reads all entities and converts all levels ann 9 36 2E 2E 36 Ba 2 0 Developer s Guide 5 17 3 97 Modeling Using SL Commands Converting Soft Machines Models to IGES files In order to convert a Soft Machines model to an IGES file the model you wish to convert must be in the Soft Machines product that you are using If it is not already there you can bring it into the product with the following function restore lt filename gt where the lt filename gt must be a string Note that restore is a function which returns the value of the model so it must be assigned a model variable type in order to make use of the returned model The command to convert a model to an IGES file is model_to_iges lt model gt lt filename gt where lt model gt is the variable containing the value of the model to be converted If you do not specify a lt filename gt Soft Machines will prompt you for it during the conversion routine After you enter the model_to_iges command Soft Machines displays a list of IGES global default parameter values and asks you if any are to be changed If you answer yes the program steps through these parameters one at a time and asks fo
226. ntation see geometry Other Codes Supported 10 121 P Pan 10 44 parabola adding 5 3 5 10 parametric curve 5 11 parametric surface 5 12 part coordinates 6 13 PARTNO 10 87 Pascal 1 2 1 13 patching a function 3 22 3 25 pause break 3 27 pcurve adding 5 3 pceurvelist adding 5 3 Performance 10 62 Physical Tool Changes 10 65 pipe operator 5 13 pipes 2 40 adding 5 13 creating 2 40 messages queue 2 40 2 41 waiters queue 2 40 2 41 INDEX 9 Index pitch see geometry plane surface adding 5 5 Point 10 55 10 149 point type 3 34 point adding 5 2 pointer 2 18 pointer management 1 2 polygon circular 5 4 convex planar 5 4 polymorphism 1 2 2 23 pose see geometry position see geometry Post Processor Statements 10 66 ppause command 3 27 PPRINT 10 88 10 89 10 90 10 91 10 151 PPRINT TRUEC 10 90 procedure 7 24 applications 1 9 definition 1 13 procedure constructor 2 2 process syntax for 2 41 Processing 10 74 Product 10 4 product building 3 14 creating 3 12 3 14 3 17 3 18 help file adding 3 13 rebuilding 3 16 3 17 support only 3 21 umodules file including 3 20 Product Administration panel 3 18 3 22 programming methods 1 1 protection 3 1 pseudo code 1 3 pspline adding 5 10 psurf_to_gsurf operator 5 5 R radius compensation 8 4 RAPID 10 91 Rapid 10 146 rational B spline surface 5 7 INDEX 10 rbspline adding 5 3 rbuild command 3 14 3 17 rctcurve adding 5 2 Read batch file 10 21 Read SLA
227. o SIL can get started by treating SIL as an interactive implementation of Pascal SIL syntax is a superset of Pascal syntax and all of the control structures have their usual Pascal meanings basic data types such as reals integers booleans and records have standard behavior The difference between the two languages emerges when examining pointer types SIL maintains pointer structures in a Lisp or SmallTalk like heap so that pointer management is different from and simpler than Pascal Still another feature which distinguishes SIL from Pascal is its polymorphism SIL is polymorphic in the sense that the same symbol may be used to denote functions of differing input types For example Soft Machines SIL Language Overview the function double may be defined both for reals and points without conflict This is known as static polymorphism SIL supports other kinds as well Because the decision of which function variant to use is made at compile time no performance slowdown occurs 1 o 2 c 0 D zS oper O eD The SIL Programming Environment The SIL programming environment like that of Lisp or SmallTalk is interactive Any legal expression can be typed or cut and pasted into the SIL gt prompt including new functions type definitions or global assignments Typing or pasting in expressions results in these new entities being added to the current programming state In Text Mode the mouse buttons have
228. of a crecord declaration is just like that of a record or lrecord type erb crecord xc integer yc real end This is identical in effect to the C declaration struct erb int xc double yc then new erb returns a value of type Aerb i e pointer to erb which is equivalent to the C type erb Developer s Guide 2 17 3 97 Object Oriented Programming in SIL The usual SIL syntax can be used to select and set the fields of an erb ee new erb ee xc 56 ee yc 5 4 ee XC Similarly a carray is an array without tag or length fields A carray can be created with cc Carray_create integer 10 The A syntax can be used to make a pointer as in aa ee xc or aa Acc 4 The type of aa is integer The only legal arguments to are fields of crecords and entries in carrays Pointers are de referenced as follows aa then aa aa aa will double the integer value pointed to by aa crecords and carrays can be built from the primitive types cchar cshort integer real sreal or from other crecords or carrays SIL Type Identical to C Type cchar char cshort short sreal float single precision real integer int real double The types cchar cshort and sreal should appear only as the subtypes of carrays pointers or crecords 2 18 Soft Machines C Data Types Alignment is done as in C each type is aligned to an ev
229. of type conic2dr structure has general conic coefficients Let tp be an integer from hyperb_type elips_type parab_type The next mk_ellipse and mk_hyperbola function below NOTE use type conic_data tuple_of frame real real integer Developer s Guide 5 9 3 97 ann 9 36 2E 2E 36 Sa 20 Modeling Using SL Commands Operator Resulting Shape mk_ellipse z tp ellipse mk_ellipse z ellipse mk_hyperbola z tp hyperbola mk_hyperbola z hyperbola mk_parabola z tp parabola mk_parabola z parabola Operator Resulting Shape mk_circular_arc center begpt endpt pnt2dr circle zt real mk_circular_arc center begpt endpt pnt2dr circle Bezier Curve Constructor We string together Bezier curves defined by four successive points If necessary some points at the end are duplicated Operator Resulting Shape mk_pspline p0 p1 p2 p3 pnt3dr pspline pO p3 are the control points of the Bezier curve mk_psplines pts darray of pnt3dr pspline Similar to mk_psplines except here the resulting curve has continuous tangent vectors Operator Resulting Shape mk_pspline pts darray of pnt3dr n integer pspline mk_pspline pts darray of pnt3dr pspline 5 10 Soft Machines Modeling Constructors Bezier Patch Constructor Operator Resulting Shape mk_psurf cpts darray of pnt3dr psurf cpts 0 15 is an array of control points for the Bezier patch g u v 1 uu u u u u B S Bt 1 v v v
230. oft Machines Creating SIL Tasks for NC Machines v x N H oO z Developer s Guide 3 97 NC Tasks 8 12 Soft Machines Creating SIL Tasks for NC Machines v x N H oO z Developer s Guide 8 13 3 97 NC Tasks 8 14 Soft Machines Creating SIL Tasks for NC Machines 9 x N Ga S z Forward Kinematics Moves Complex 5 and 6 axes machines require G code move statements be resolved into joint vectors when executing the moves forward kinematics moves Chapter 6 Modeling NC Machines and Chapter 7 Modeling NC Tooling describe how the X Y Z parameters in a G code statement can be mapped to joint vector convention nev_axes_to_jv and how work coordinate systems and cutter offsets must be defined in joint space In developing SIL tasks to perform forward kinematics moves we must consider the following E Definition of work coordinates in joint vectors Example 8 5 E Definition of cutter offsets in joint vectors E Execution of move commands with respect to the active work coordinate system Example 8 6 Developer s Guide 8 15 3 97 NC Tasks 8 16 Soft Machines Creating SIL Tasks for NC Machines v x N H oO z Developer s Guide 8 17 3 97 NC Tasks Example 8 6 continued else reference c_jv nc end ncv_moveto nc g reference kt_moveto mk_gcode_status true g stmt_no msg end
231. oling NC tooling modeler Kinematics modeling of SILMA Meta Kinematics NC machines Specialization of robot models SILSPECs Load interpret and G code translator execute NC part programs Gand M tables Graphics user interface NCV user menus Reporting of simulation Movie shower cine results Special error report routines Table 6 1 Software module capabilities Developing an NC Simulator The development of an NC simulator can be summarized in the following steps L Construct kinematics model of machine SILSPEC using SILMA Metakinematics 2 Define machine parameters such as reference frames 6 4 Soft Machines General Overview of Soft Machines 3 Develop machine specific routines SIL procedures functions and tasks such as tool changes interface to tooling database etc 4 Construct machine specific machine pendant panel for manual control of machine model using Soft Machines menus 5 Construct G and M tables to connect G and M codes to equivalent SIL tasks 6 Construct G code translator to translate part programs into SIL function calls 7 Incorporate all of the above into the data class nc_machine Figure 6 2 on page 6 6 gives a schematic overview of the software architecture in Soft Machines 2 a Zz a ae Sa of Developer s Guide 6 5 3 97 Modeling NC Machines G Code Translator SIL Tasks SIL Tasks Machine Machine Independent Dependent Process Rules Machine
232. om Selection Fit Menu Fit Center Colors Menu Display Menu The Show axes Switch The Show cutter Switch The Shadows Switch Modes Menu The Enhance Switch The Section Selection The Compare Switch The Rotate Selection The Translucent Switch The Reset Selections Measure Menu The Point Selection The Time Selection The CL ID Selection The Remove chips Selection The Volume Selection Conclusion Getting the Most From First Cut Performance Choosing an Optimal View Accuracy Multiple Viewports File Management Dithering Getting the Most from the CL File Conversion Program Cutter Definitions Physical Tool Changes Post Processor Statements Converting a CL File cltoncv Developer s Guide 3 97 10 45 10 45 10 46 10 46 10 46 10 46 10 47 10 48 10 48 10 48 10 48 10 49 10 49 10 50 10 51 10 51 10 53 10 54 10 55 10 55 10 56 10 58 10 59 10 60 10 61 10 62 10 62 10 63 10 63 10 63 10 63 10 64 10 64 10 65 10 65 10 66 10 66 Table of Contents File Conversion Program cltoncv 10 67 The NCV File and MES File 10 68 The Control File Option 10 69 Syntax for Each Control File Definition 10 69 Stock Definition 10 69 Stock Box specified 10 69 Stock box Auto 10 70 Stock Profile Sweep 10 70 Fixture Definition 10 70 Cutter Default Parameters 10 72 Cutter Default Definition 10 73 Cutter Types 10 73 Minimum Cutter Diameter Default 10 73 Minimum Cutter Length Default 10 73 Processing Defau
233. or can be considered as a set of software modules through which NC part program s G and M codes statements are translated into commands for a simulated machine tool An NC machine can be modeled by attaching the simulated controller to the kinematics model of a machine tool SILSPEC An NC simulator contains the following components m A part program translator G code translator translating part program statements into Soft Machines commands This can either be a generic translator handling simple syntax or a custom module written specifically for a particular machine model Soft Machines General Overview of Soft Machines Machine Tool NC Model Part Program s Fixture Machine Models Assembly Process Rules Tooling Optional Assembly Process Simulation Animation File Movie Figure 6 1 Data flow diagram for Soft Machines S z9 De 35 Sa of Developer s Guide 3 97 Modeling NC Machines m Arrays of SIL task closures called G and M tables connecting G and M code commands to Soft Machines commands User menus allowing control of the machine model using mouse menu interface E Other parameters such as machine reference coordinates status of machine coolant spindle interface to external tool databases etc Table 6 1 shows how software modules providing these capabilities can be summarized FUNCTIONALITY SOFTWARE MODULE Workcell modeling Base Soft Machines Model to
234. ordinate System Rotation Inch Programming Metric mm Programming Canned Cycle Rapid Drilling Canned Cycle Left Hand Tapping Canned Cycle Fine Boring Canned Cycle Cancel Canned Cycle Spot Drilling Canned Cycle Counter Boring Canned Cycle Peck Drilling Canned Cycle Tapping Canned Cycle Boring Set machine status for acceleration deceleration See G60 See G60 2 8 See G60 T zZ See G60 Set machine status coordinate system rotation See G69 Set system unit current_unit inch Set system unit current_unit mm Declare active canned cycle execute canned cycle See G73 See G73 See G73 See G73 See G73 See G73 See G73 See G73 Table 8 1 Developer s Guide 3 97 Default G code table continued 8 5 NC Tasks 8 6 Code Description Remarks G86 Canned Cycle Rapid Boring See G73 G90 Absolute Dimension Input Set G code input status G91 Incremental Dimension Input See G90 G92 Preload Machine Registers Set machine status G93 Inverse Time Feedrate Set machine status feedrate control G94 Inch or mm min Feedrate See G93 G95 Inch or mm rev Feedrate See G93 G96 Constant Surface Feedrate See G93 G97 Revolution min rpm See G93 G98 Initial Level Return TRUE Set canned cycle status execute current canned cycle see G73 G86 G99 Initial Level Return FALSE See G98 Table 8 1 Default G code table continued Code Descript
235. ough colors from the global colormap it would create its own colormap This allowed First Cut to run even if there were no colors available but it caused the screen to flash so violently that most users considered it a bug First Cut now never allocates its own colormap it deals with limited colors by gracefully degrading the dithering however this means it has a minimum number of colors it requires from the global colormap Previous releases could operate without allocating colors from the global color map Getting the Most from the CL File Conversion Program The First Cut product verifies data contained in a CL file The CL file represents output from an NC processor Chapter 8 provides the ASCII NCV file format needed by customers whose CL files are not in the format required by NCV All that is required for a CL file converter is a Soft Machines Getting the Most From First Cut utility which dumps programs in a human readable format Such a utility typically requires few changes to format NC files suitable for use by First Cut Cutter Definitions It is common practice for APT programmers to define false cutters Although the use of these cutters results in the correct GOTO points they do not accurately reflect the physical cutter First Cut allows you to override these false tool definitions using the PPRINT TRUE C statement this statement is interpreted identically to the word CUTTER and generates a physical tool change
236. ove the machine to the specified joint location This is known as forward kinematics move we are moving the joint vectors instead of the end effector Example 6 2 shows the SIL code to convert x y z a b c from G code statements to machine joint vectors by utilizing the fields x_link y_link C_link in the class nc_machine Developer s Guide 6 15 3 97 an 3 De 35 Sa of Modeling NC Machines 6 16 Soft Machines Defining NC Coordinate Systems Forward kinematics moves require that all reference and work coordinates be defined in joint space as well Recall that the field base_jv defines the machine reference coordinates To execute a 6 axis forward kinematics move in machine coordinates this expression is used moveto m nc_axes_to_jv m x y z a b c m base_jv 6 3 Dec ae o amp of Developer s Guide 6 17 3 97 Modeling NC Machines To add work coordinates definition we create a subclass of ne_machine called machining_center new_class machining_center superclass generalize nc_machine ref_jv array_of jv aux universal in which the field ref_jv type array of jv contains work coordinates defined in joint vectors To execute a 6 axis move using work coordinates we can do moveto mc nc_axes_to_jv mc x y z a b c mc ref_jv i where mc is of class machining_center and i defines the work coordinates to use Determining Simulation Strateg
237. parison of the As Machined Part with the Design Part 10 158 Read an NC File for Comparison Read in SLA File of the As Designed Part Run the Simulation for the Comparison 10 158 10 160 10 162 Compare the As Machined Part with the As Designed Part 10 163 Other Production Facilities Saving an Image of the Session Viewing Saved Images Exiting the First Cut Simulation Session Developer s Guide 3 97 10 165 10 166 10 167 10 168 xiii Table of Contents Xiv Soft Machines Manual Conventions Using this Manual Manual Conventions The following sections describe conventions which have been used in this manual to denote specific concepts For the following this typeface is used E booleans E variables E statements E object names E commands E operators Example mk_rctcurve pts darray of pnt3dr n integer is an operator The SIL Prompt The SIL prompt is shown by SIL gt When you see the prompt it means that the code following it can be entered exactly as shown If the line following the SIL gt prompt line isin this font this is the result of the command Example SIL gt monthly_salary team1_leader 3541 666748 In this example you would enter monthly_salary team1_leader at the SIL gt prompt After you press lt RETURN gt 3541 666748 would be displayed in the shell window Developer s Guide XV 3 97 Using this Manual xvi SIL Syntax Sections showing syntax of more tha
238. part model about its vertical or horizontal axis in order to see the part from different angles E The first uses the Rotate Shaded Image panel in which you state the absolute number of degrees you wish the part to be rotated M The second is invoked using the middle mouse button How to do this is described in Dynamic functions during simulation on page 2 8 w gt S N WL to a For now check out the Rotate Dialog as follows Rotate Dialog Select the Modes button in the Geometry Window and then select Rotate This displays the dialog Degrees CCW ifo Axis Vertical lt gt Horizontal Apply Cancel Figure 10 84 The Rotate Shaded Image panel To rotate the part Developer s Guide 10 153 3 97 Using First Cut Enter the number of degrees negative if you wish that you want the part to be rotated For vertical rotation a positive angle causes the front of the part to move to the right and a negative angle causes it to move to the left For horizontal rotation a positive angle rolls the front downwards and a negative rolls the front up Select Apply Select Cancel or select Reset from the Modes menu to restore the original image Hipping the View of the Part Now select again the View button from in the Geometry Window and select Flip This gives you a view of the part flipped through 180 degrees Selecting Flip again restores the original view We will
239. pe only has one reference frame any rigid shapes which are subsequently glued lose their reference frames ann E 36 zE D 36 3a P The glue operator makes no attempt to resolve duplicate elements of the body shape which results Soft Machines does not glue models with dissimilar body types wireframe or surface together the resulting glued object will consist of two parts a glued surface and a glued wireframe Developer s Guide 5 15 3 97 Modeling Using SL Commands The moveto Operator The moveto operator returns a model which is lt model gt moved to the absolute coordinates lt goal gt lt goal gt may be either a position orientation is unchanged an orientation position is unchanged or a complete pose Note that moveto does not redefine the reference frame of the returned model the reference frame goes with the model moveto lt model gt lt goal gt The imoveto Operator The imoveto operator is similar to moveto but does not move the object along a straight line path towards the goal imoveto instantaneously places the object at the goal without consuming any simulated time The moveby Operator The moveby operator is similar to moveto but the model value that moveby returns is lt model gt moved by the specified lt increment gt The increment may be a position orientation is unchanged and orientation position is unchanged or a complete pose Note that the lt increment gt specified
240. pecification is used for all of the stepping values that precede it The entire group steps and feedrate can be repeated for as many different feedrates as required Once all steps have been performed the hole is complete unless a depth was coded In this case the last stepping value is repeated until the final depth is reached If the DECR option is specified then the last stepping value will be reduced by the DECR amount at each peck The TIMES option can be coded to specify how many pecks should be done between each full retract to the original clearance point If this option is omitted the tool will not perform any full retractions The clearance distances are optional They specify the original point clearance and the individual step clearances If coded they must follow the feedrate parameter If omitted they default to zero Soft Machines NCV Input Data Formats The BRKCHP cycle causes the motions shown in the diagram below to occur at each valid point within the cycle CYCLE BRKCHP f1 f2 f3 IPM feedrate r 1 Position at rapid to r above the control point A ho Feed a distance f1 below the control point at y Bi r A 1 f1 feedrate inches minute 3 Small retraction ZN p Feed a distance f2 below the control point 93 Small retraction y 6 Feed a distance f3 below the control point 7 Rapid retract to a position r above the control point THRU Cycle The THRU cycle performs a
241. pose of one in the frame of the other For this we use the in_frame operator lt geometric type gt in_frame lt pose gt where the argument preceding in_frame can be any absolute position orientation or pose relative to the Universe and the argument following in_frame is a pose relative to the Universe The value returned is always a position orientation or pose with the pose specified after the in_frame operator as its reference instead of the Universe For example consider a pose of 1 2 3 0 0 0 and a position 3 2 1 This position in the frame of the given pose would be 2 0 2 That is mk_crt 3 2 1 in_frame mk_pose 1 2 3 0 0 0 returns the absolute position 2 0 2 Soft Machines Geometric Operators pose cutter pose part F cutter universe F pose cutter in_frame pose part F part pose part F cutter pose cutter F rel F part Fart F Figure 4 14 in_frame and rel operators Developer s Guide 4 19 3 97 gt 5 fo O 9 N O fe i Geometry in Soft Machines 4 20 The in_frame operator is useful if we need to rearrange components of a simulated workcell without changing their poses relative to one another For example suppose we have defined a part model and cutter pose relative to the Universe such that the cutter pose describes the starting position of a part program Suppose again we need to reposition the part model to make
242. r s Guide 8 3 3 97 NC Tasks Code Description Remarks G8 G9 G17 G18 G19 G28 G40 G41 G42 G53 G54 G55 G56 G57 G58 G59 Disable Acceleration Deceleration Control Enable Acceleration Deceleration Control Plane Selection XY Plane Selection ZX Plane Selection YZ Move axes to HOME position Radius Compensation OFF Cutter Compensation LEFT Cutter Compensation RIGHT Move with respect to Machine Coordinates Move wrt Work Coordinates 1 Move wrt Work Coordinates 2 Move wrt Work Coordinates 3 Move wrt Work Coordinates 4 Move wrt Work Coordinates 5 Move wrt Work Coordinates 6 Set machine status acceleration and deceleration See G8 Set machine status declare plane used for circular interpolation See G17 See G17 Generic machine command move machine to HOME position Set status for cutter compensation See G41 See G41 Move axes in machine coordinates Move axes in work coordinates 2 and 3 axes machines only See G54 See G54 See G54 See G54 See G54 Table 8 1 8 4 Default G code table continued Soft Machines Creating SIL Tasks for NC Machines Code Description Remarks G60 G61 G62 G63 G64 G68 G69 G70 G71 G73 G74 G76 G80 G81 G82 G83 G84 G85 Single Direction Positioning Exact Stop Mode Corner Radius Override Tapping Mode Cutting Mode Coordinate System Rotation Co
243. r SIL data can be cast to and from universals The list of classes to which these views belong is given by the function classes This is a list of ntypes The class of an object is given by the function my_class Because referentially equivalent objects represent the same entity we would like all views of A i e not just the specializations of A to be able to use the methods and attributes of A Doing this requires changing views using the as_view or to_view infix operator lt object gt as_view lt class gt lt object gt to_view lt class gt When lt object gt has no view in lt class gt lt object gt as_view lt class gt generates an error message while lt object gt to_view lt class gt returns a null object which can be tested for using the nul predicate Two simple operators are provided for directly manipulating the views of an object splice and remove_this_view Soft Machines Classes and Inheritance The splice operator simply appends the views of object1 onto those of object2 So object1 and object2 are unified they become referentially equivalent object may not be spliced onto object2 if any view of object1 has the same class as a view of object2 The splice operator works like this splice lt object1 gt lt object2 gt The remove_this_view operator works like this remove_this_view lt object gt Object Oriented 7 to E E nS Do e mS a The remove_this_
244. r changes If you answer no Soft Machines prompts you for the name of an IGES file and converts the model writing to this file 5 18 Soft Machines Modeling Examples Modeling Examples The following examples illustrate the use of some of the models constructors described above and demonstrate several useful modeling concepts You are not limited to using SIL commands to create these examples all of these models could haven been built using the panels ann Eg 36 ae cE 38 B So Developer s Guide 5 19 3 97 Modeling Using SLCommands 5 20 Soft Machines Modeling Examples ann 2 36 ae cE 38 6 Z0 Developer s Guide 5 21 3 97 Modeling Using SLCommands 5 22 Soft Machines Modeling Examples D N Eg 36 ae cE 38 6 Z0 Developer s Guide 5 23 3 97 Modeling Using SLCommands 5 24 Soft Machines Chapter 6 Modeling NC Machines This chapter contains the following topics gt General Overview of Soft Machines Developer s Guide 3 97 NC Simulator Developing an NC Simulator gt NC Machine Data Class gt Defining NC Coordinate Systems Axes Convention NC Coordinates Versus SILSPEC Coordinates Defining NC Reference Coordinates NC Coordinates in Joint Space Determining Simulation Strategy Attaching a Tool Library to an NC Machine G and M Tables gt gt Machine Status gt gt Machine Pendant Panel The preceding chapte
245. r of stations we check the number of subparts under TURRET FRAMES max_mnt length all_descendants wlkup TURRET FRAMES mnts array_create mount_point max_mnt 1 continued on next page 7 16 Soft Machines Tool Library D S Z dD D la Tool Library Class definition of a tool library tool_lib is new_class tool_lib superclass generalize shape changer tool_changer aux universal where changer is the tool changer and aux is a universal field designed to incorporate data from external tool databases A tool library is constructed by mounting tool holders and cutting tools at user defined stations and then saved for later use Tool libraries can be assembled in different combinations using the same tool holders and cutters For example in Figure 7 4 on page 7 5 the same tool holder an ID adaptor is used to hold different cutting tools at different stations Developer s Guide 7 17 3 97 Modeling NC Tooling 7 18 To mount a tool library to an NC machine we move the tool_lib to the pose of the object defined by the changer_mount field in nc_machine We define the procedure mount_tlib as follows procedure mount_tlib tl tool_lib m nc_machine var s string begin s name tl if m tlib null_string then begin m tlib S imoveto s pose m changer_mount affix s m changer_mount end else writeln mount_tlib chan
246. r on and off Leave it checked i e switched on for now Ignore the d Shadows button for the time being you will use that later View Selection The default view displayed is the front view In your Geometry Window select the View button which gives you the following menu showing all the views you can select directly 2 oO kaad a r to N gt lso Alt Flip Close Figure 10 65 The View menu Note that two of the buttons have keys identified alongside them These are the keyboard shortcuts you could use for using the facility instead of invoking the menu and making a selection For example if you wish to get an isometric view quickly using the keyboard you would simply hold down the lt ALT gt key while pressing the lt l gt key For now use the mouse to select the button labeled so The model is now shown in isometric view You can flick through the other buttons to see the various views but to resume the tutorial leave the model in the isometric view Developer s Guide 10 139 3 97 Using First Cut 10 140 Creating Multiple Views While we will run the tutorial with just the one view you can in fact have several views running simultaneously To bring up another view simply select Views from the top of your Metal Removal Window which gives you a one button menu Create view Alt V Figure 10 66 Creating views Select the single button which will give you anot
247. r playback later there are many viewing options for replaying the simulation An as designed part in SLA file format may be also be read in to the NCV program for use in a graphical comparison with the as machined part overcuts and undercuts are highlighted oO a a re to a gt Operation and User Interface First Cut is an interactive graphics system which can reduce the time and cost involved in generating error free NC programs The NCV simulation is designed to help identify and correct inefficient tool motions The product provides a visual image for the verification of numerical control machining operations The simulation of tool motion and material removal provides a graphical representation of a work in process model As the cutter follows the tool paths specified by the NC programmer the user sees the part emerging from the stock This process improves shop floor productivity by providing a cost effective alternative to tape tryouts on the machine tool Developer s Guide 10 5 3 97 Using First Cut First C ut Simulation Overview First Cut simulates the machining process using the Center Line CL file generated by an NC processor such as Automatically Programmed Tool APT The CL file is converted to produce a data input file called the NCV file which is used by the never simulation program This is illustrated below Part Program File Control File Input
248. r those CL points will change OK makes the specified changes and dismisses the panel Reset restores First Cut s original values those you see when the panel is first displayed Cancel dismisses the panel without changing any values even if Reset was selected Setting the Maximum Cutting Feedrate The Maximum Feedrate panel is used to specify the maximum cutting feedrate Faster feedrates are considered RAPIDs Selecting Max feearate from the Control pulldown menu displays the Maximum Feedrate panel Max feedrate 1400000 Reset OK Cancel Figure 10 30 The Maximum Feedrate panel OK makes the specified changes and dismisses the panel Reset restores First Cut s original values those you see when the panel is first displayed Cancel dismisses the panel without changing any values even if Reset was selected Soft Machines First Cut Functions The Subset range Selection The Subset Range panel is used to specify that only a subset of the CL IDs should be simulated First Cut will then simulate the cutter motions for those CL points only Selecting Subset range from the Control pulldown menu displays the Subset Range panel StartCL ID First entire End CL ID Last OK Cancel Figure 10 31 The Subset Range panel 2 5 6 a ic D D 5 The number of CL points selected for simulation is shown in the message area Entire selects the entire NC program T
249. r1 r2 first and second radii of funnel al angle revolution in rad h height of tube ur resolution in circular direction Operator Resulting Shape funnel r1 r2 a1 h real ur integer rvsurf funnel r1 r2 a1 h real rvsurf funnel r1 r2 h real rvsurf Tabulated Cylinder endpt endpoint of generatrix base directrix Operator Resulting Shape mk_tcsurf endpt pnt3dr base list of pcurve tcsurf Rational B Spline Surface knts1 knts2 u v knots cpts control points wghts rational part of control points weights Operator Resulting Shape mk_rbsurf knts1 knts2 wghts darray of real rbsurf cpts darray of pnt3dr mk_rbsurf knts1 knts2 darray of real rbsurf cpts darray of pnt3dr Developer s Guide 5 7 3 97 te E 9 36 2E aie 36 3a 20 Modeling Using SL Commands 5 8 d1 d2 degrees in the u v directions fno is a formno gives a simple description of what type of surface this really is such as cylinder sphere etc coefs coefficients of spline surf Operator Resulting Shape mk_bsurf fno d1 d2 integer rbsurf knts1 knts2 darray of real coefs darray of pnt3dr mk_bsurf d1 d2 integer rbsurf knts1 knts2 darray of real coefs darray of pnt3dr Coons Surface sg1 sg2 sg3 sg4 line segment boundaries pc1 pc2 pc3 pc4 pcurve boundaries k specifies the type 0 for linear and 1 for cubic Operator Resulting Shape mk_cnsurf g1 sg2 sg3 sg4 seg3dr k integer c
250. rd or record type lt type gt generates a corresponding struct declaration of the same name and defines lt type gt p to be the type of pointer to this type lt type gt p is the type assigned to incoming arguments from SIL Since passing of records and Irecords to C is identical the type Ipoint and point generate C declarations of identical structure Notice however that an array of points and an array of Ipoints differ the former is given by a pointer to a point and the latter by a pointer to a pointer to an Ipoint Passing Other SIL Types The SIL type string is passed to C as stringob discussed further in the Protecting the Data Space when Passing Strings on page 3 39 The rest of the SIL types excluding the ones already mentioned are passed simply as lispob The sample C file starts with a few includes These inclusions bring in various basic definitions associated with the underlying implementation of SIL in C It is here that the types stringob lispob real and integer are defined Passing a SIL Array A SIL array is passed to C as a pointer to some header information used in SIL not to the beginning of the array itself The first element of the array is arrived at by using the macro ARRAY_BODY and its length by array_length Soft Machines Calling C Code from SIL Example 3 15 provides a more complete example in which functions for doubling an Ipoint and for doubling an array of points are imported 23
251. reference frame copy called equivalent angle axis Within the Euler and fixed representations there are 24 combinations for specifying orientations Use the input representation from the following list which matches your situation and the SIL function to_frame to convert general orientations to Soft Machines frames xyz_fixed yzx_fixed xyx_fixed yzy_fixed xyz_euler yzx_euler xyx_euler yzy_euler xzy_ fixed zxy_ fixed xzx_fixed zxz_fixed xzy_euler zxy_euler xzx_euler zxz_euler a A r n r co yxz_fixed zyx_fixed yxy_fixed zyz_fixed yxz_euler zyx_euler yxy_euler zyz_euler S 5 F O D Developer s Guide 4 9 3 97 Geometry in Soft Machines 4 10 Yaw Pitc h Roll In Soft Machines terminology yaw pitch and roll refer to rotation about the X Y Z axes in that order about a fixed reference frame In the case of robot end effectors the Z axis points outward along the centerline of the flange Therefore the roll of the wrist always occurs about the Z axis of the tool or mounting flange see Figure 4 9 A Mounting Flange Pe ii Z Roll Figure 4 9 Yaw Pitch Roll Yaw pitch roll is convenient for describing the orientation of any object s frame The rotations are performed sequentially about the axes of the initial orientation of the frame and always performed in this order L yaw about X 2 pitch about Y 3 roll about Z The order in which the rotations are performed is important In general a rot
252. riting a snapshot image of the screen every time an error is detected so that you can view the image separately later or displaying the cutter as a solid instead of in wireframe For now just switch on d Change color at cutter change This option automatically changes the color of the material removed at each cutter change Developer s Guide 10 143 3 97 Using First Cut 10 144 Setting Color Options Now go to your Geometry Window and select the Colors button This will give you the following list of options Yellow Orange Violet Green gt Gray Blue Cyan o Pink o Tan o Yellow green Repaint Figure 10 71 The Colors menu You will see that Yellow is toggled so this will be the color of the first cuts made in the part and at each cutter change the colors will cycle through the list If you want to commence with a different color simply toggle that one instead If you want just one color for the cuts you would toggle it then go back to the Auto menu and turn off the 4 Change color at cutter change option Setting up Recording Select again the Auto button on your Metal Removal Window Select J Record to switch on the simulation playback log This will allow you to re run the simulation in a fast replay mode after you have finished There will be a delay of a few seconds while the playback file is initialized Soft Machines First Cut Tutorial Setting Automatic Check Points
253. room for mounting fixtures but do not want to change the cutter s starting position relative to the part model Using in_frame we may find the starting position in the frame of the part model cutter_pose_in_part cutter_pose in_frame part_pose After we have defined the new pose of the part model relative to the Universe the new pose of the cutter pose relative to the Universe is new_cutter_pose cutter_pose_in_part rel new_part_pose or new_cutter_pose new_part_pose cutter_pose_in_part No matter where we decide to put the part the new cutter pose relative to the Universe is always the value of cutter_pose_in_part relative to the new pose of the part The in_frame operator is also useful in finding the pose of an object relative to reference frames other than the Universe Many CNC controllers allow the declaration of work coordinate systems G codes 54 to 59 These coordinate systems are pre set according to the layout of the part and fixtures Suppose the array work_coord contains the different work coordinates var work_coord darray of frame To find the pose of cutter in frame of one of the work coordinates cutter_pose_in_work_coord pose cutter in_frame work_coord n where n denotes the work coordinates number n 0 for G54 1 for G55 etc Soft Machines Geometric Operators To find the Cartesian coordinates x y z of the cutter in frame of the work coordinates var crt_cutter crt crt_cu
254. rs introduced the components needed to develop an application package using software tools included in Soft Machines In particular we have discussed how to use the SIL language to Model devices and attach special characteristics to pre defined objects based on classes and inheritance Develop tasks for simulation Describe geometries of workcell objects and perform geometric operations on them In the following chapters these concepts will be used to develop custom applications in the modeling and simulation of NC machine tools an 3 De 35 Sa of 6 1 Modeling NC Machines General Overview of Soft Machines 6 2 Soft Machines is a software simulator of NC machining processes using 3D graphics animation The simulation is used for verification of NC part programs insuring that such programs result in the intended error free machining processes using the specified machine tools The basic functionalities of Soft Machines are gt Geometrical modelling of workcell components including part geometry cutting tools fixtures etc gt Kinematics modelling of machine tools which allows the simulated machines to operate just like real machines gt Capability to load interpret and execute NC part programs by the simulated machine tool gt Graphical user interface gt Reporting of simulation results Figure 6 1 on page 6 3 shows the data flow diagram for Soft Machines NC Simulator An NC simulat
255. rsion 13 is specified the current version of paint is specified and spot version 14 is specified Then the if block indicates that if any version of arc is included in the build then mybuild version 12 and the current version of appsup should also be included o eae to 0 a ow Support Only Builds Areas A builds area which is used only as a supporting module for some other builds area s can be marked so that it is not offered to the user as an option when using the Product Administration panel sspa script to create a product To mark a builds area as support only create an empty directory in the supporting module build area with the name support_only Application Solutions Header Module If your project involves a number of builds areas you can create an application solutions header module To do this make an entry in the cim options versions file and create a directory in the cim builds directory such as MYPROJECT1 0 Within that directory create an empty file called appsol and a comodules and or supmodules file Developer s Guide 3 21 3 97 Working with SILCode When you use the Product Administration panel to create a product and you select your application solution MYPROJECT1 0 all of the comodules and supmodules files from the builds areas which comprise the application solution will be read Based on the information that is read the Product Administration panel will cr
256. s Deleting an Object Select the item to be deleted by clicking in the view with the cursor then selecting Delete from the Model menu 10 28 Soft Machines First Cut Functions The Translate Selection The Translate panel is used to move the part stock fixtures or tool path Selecting Translate from the Model pulldown menu displays the Translate panel Translation Figure 10 23 The Translate panel To effect the translation type in the X Y and Z components of the required offset vector then select either Apply or OK Selecting Apply applies the translation and leaves the panel displayed If new values are entered and Apply is selected again the new values will be applied instead of the first set of values not in addition to the first set Selecting OK will effect the translation permanently and dismiss the panel Selecting Cance dismisses the panel and all remains as it was before Translate was selected The Rotate Selection Selecting Rotate from the Model pulldown menu displays the Rotate panel Axis AX OY Oz Angle jo OK Apply Cancel Figure 10 24 The Rotate panel Developer s Guide 10 29 3 97 A 6 D ic dD D Using First Cut To rotate an object 1 In the Geometry Window select the solid or tool path that you wish to rotate 2 Select Rotate from the Model menu The Rota
257. s Executing G and M Codes Constructing the O fe D Z G d H o 3 fe S 0 Developer s Guide 9 11 3 97 Constucting the G Code Translator Example 9 3 continued The task vmc_do_gtask is the NC task scheduler for the machine vmc task vmc_do_nc_tasks nc nc_machine ginfo gcode_info var i g m integer begin update_gcode_window ginfo update_gcode_status vmc_gcodes ginfo gcode 1 for i 0 to length ginfo gcode 1 do begin g ginfo gcode i if g gt 0 then do_gtask g nc ginfo Do Gcode end if ginfo got_m then for m in ginfo mcode do do_mtask m nc ginfo Do M code if detect_collisions then nev_report_collisions nc ginfo set_machine_status nc status end Subroutines and Synchronized Cutting 9 12 The one pass approach is inadequate when you want to simulate a more sophisticated machine controller such as one controlling more than one device at the same time a multiple turret lathe or a controller that contains built in subroutines Part program statements have to be pre processed and stored in data blocks before being passed to the task scheduler The SIL data type nev_sync_block is defined as type ncv_sync_block irecord nc nc_machine gwindow vtranscript block_no integer gc_list list of gcode_info end Soft Machines Subroutines and Synchronized Cutting where nc is the simulated NC machin
258. s to execute the corresponding simulation sequences At the same time part program errors are being monitored by error detection algorithms which report errors either interactively or by storing them in an error log file Graphics simulation can also be recorded in a movie for later replay This chapter gives an overview of how to develop SIL functions procedures and tasks to control the NC simulator and attach it to the G and M codes of a machine controller Soft Machines includes a library of SIL routines to help with the development of NC simulators The most common machine functions are already built in To incorporate them into the NC simulator we can simply attach these standard routines to the G and M tables of the nc_machine object Machine specific tasks can be constructed with components from the library Developer s Guide 8 1 3 97 V xX N Ee 8 z NC Tasks Creating SIL Tasks for NC Machines 8 2 The strategy for developing SIL tasks for NC machines can be summarized as follows 1 Identify standard machine independent tasks applicable to the NC machine Construct custom SIL tasks for machine specific functions Create arrays for G and M tables and attach all relevant SIL tasks Machine Independent Tasks A large majority of NC related functions can be considered as machine independent meaning their behavior is independent of the kinematics of the machine These include generic G codes such
259. s by leading you through a simulation session using tutorial files provided with the system The tutorial should take approximately two hours to complete and includes the following E Brief description of the First Cut Program components E Simulation Session 1 which includes an introduction to the user interface reading input files practicing with various functions carrying out an actual simulation and recording and playing back the session E Session 2 in which you run another simulation and compare the results with an as designed part model Soft Machines First Cut Tutorial E Description of other production facilities NO This tutorial is available on line You can display it by selecting the Tutorial button on the Help menu Program Components Figure 10 57 shows the organization of NCV input file tutorc1 input file tutorct y Input Conversion Program file tutorcel ncev Y Message File NC Verification Program tutorcl mes Recordin Saved u k of the g Screen Simulation Images never out tutorcl play xwd files Figure 10 57 NCV organization You will practice using the components above during this tutorial In summary they comprise E First the CL FILE Conversion Program cltoncv This takes two input files tutorcl which contains the APT CL and tutorct which contains control statements Developer s Guide 10 131 3 97 oO a ire io 2 Usin
260. s instead of the menus These instructions are provided for programmers who need a fairly detailed guide for performing geometric manipulations Understanding Soft Machines Geometry Spatial geometry or simply geometry is the means of describing how objects are situated in the region of three dimensional space being simulated With Soft Machines geometric descriptions are used to construct and locate simulated objects Soft Machines uses those same geometric descriptions to perform kinematic transformations on the simulated objects for moving them around the simulated space Geometic Tems The language used in this manual and when speaking about Soft Machines entities contains terms like coordinate system frame pose and reference system The following items explain the distinctions between these terms 8 Be 3g E Be 2 E All shapes have a pose E Frame shapes are a special kind of shape which also possess a pose E The current reference frame is some shape s pose E Frame shapes are physical objects in the simulated world and can usually be picked with the mouse like any other shape E Poses can be displayed but are ephemeral they cannot be selected Chapter 2 of Introduction to Robotics by John J Craig Addison Wesley 1989 provides detailed information on the concepts in this chapter Developer s Guide 4 1 3 97 Geometry in Soft Machines 4 2 Every point on an object has a fixed lo
261. s of cutting tools For example some machining processes employ programmable probes for in process measurement functions These probe heads can be considered as specializations of cutting tools additional parameters relating to probe measurements can be added and probing functions can be attached by using SIL closures Collision Detection An example of using rules based properties is collision detection in Soft Machines Here a tool is assumed to be actually cutting when M Machine spindle is on E Machine is not in rapid positioning mode E Cutter is at the cutting position i e active cutter is not a null model Machine coolant is on which is true in most cases If any of these conditions is not satisfied you need to activate collision detection between the cutter and the part Conversely you need to exclude the cutting tool from collision detection when it is performing cutting operations Example 7 9 shows how to exclude collision detection for the active cutter Developer s Guide 7 29 3 97 Modeling NC Tooling Material Removal Example 7 10 shows a time sliced based approach in computing material removal simulation The swept volume of a cutter tool is computed as it moves along in space during a time interval The swept volume is subtracted from the part stock model to create a new shape representing the part in process We establish the following rules before material r
262. s the spindle speed 6 an CL record number rm io SPINDL E 5 RPM Spindle speed in RPM CLW or CCW this is optional 10 93 Using First Cut 10 94 SPROF Format pam 1 pam 2 pam 3 5 pam 4 NOTE SPPROF Format pam 1 pam 2 pam 3 4 NOTE STOP integer char float float float float Defines head for profile sweep CL record number ignored SPROF Center point X Y Z Thickness An example of how to use this is given at Sample Stock Definition in NCV File on page 10 118 integer char float float Defines profile sweep point CL record number ignored SPPROF Profile point X Y An example of how to use this is given at Sample Stock Definition in NCV File on page 10 118 integer char float float float Alternative header definition for profile sweep CL record number ignored STVECT Start point of sweep X Y Z See description under LOADTL TOOLNO TURRET TMARK Soft Machines NCV Input Data Formats GOHOME STOP on page 10 86 TLAXIS Format integer char float float float Use Specifies the default tool axis to be used when MULTAX is OFF When MULTAX is ON the tool axis specified in the FROM or GOTO statement is used pam 1 CL record number pam 2 TLAXIS pam 3 5 Default I J and K components of the tool axis TMARK See specification under LOADTL TOOLNO TURRET TMARK GOHOME STOP on page 10 86 5 5 6 D
263. sections Soft Machines Data Types Records Records are always defined within the scope of a type definition at the top level The syntax follows Pascal type lt name gt record lt field gt lt field gt lt type gt lt field gt lt field gt lt type gt end where lt field gt and lt name gt are identifiers Object Oriented 7 to E E nS fo e mS a Unlike Pascal records defining a record in SIL automatically defines a constructor function which enables you to create records in a single statement The name of the constructor function adds the prefix mk_ to the name of the record Unlike Pascal SIL functions can return records as values lrecords Record parameters are passed by value This means that a function procedure which is passed a record as an input actually makes a private copy of the record input before it modifies any of its fields In SIL records are used to represent non mutable entities and lrecords are used to represent mutable structures An Irecord is just a pointer to a record trecord parameters are passed by reference rather than by value This means that a function procedure only gets a pointer to an Irecord not a private copy Developer s Guide 2 7 3 97 Object Oriented Programming in SIL Advanced Data Types This section contains these topics gt ntype gt Supertypes gt Applications SIL system defined types incl
264. sed to identify cutter types diam real Diameter of cutter unit in centimeters length real Length of cutter unit in centimeters cutting_angle rangle Cutter angle radian flute_length real Flute length or length of cutting edge unit in centimeter smurfiness boolean Currently not used Table 7 1 cutting_tool field descriptions Developer s Guide 7 7 3 97 Modeling NC Tooling Figure 7 6 and Figure 7 7 show two examples of cutting tool models one typical for milling operations one for turning operations Radius Tip Flute Length Cutter Length Flange Pose of Model Figure 7 6 Cutting tool end mill with inserts 7 8 Soft Machines Cutting Tool Flange Tip Cutting Angle Length gt Figure 7 7 Cutting tool boring bar with inserts Developer s Guide 7 9 3 97 D t He S Z dD e Modeling NC Tooling The following steps show how to construct a cutting_tool 1 Create a regular Soft Machines model using the Modeling menu or import from other CAD systems Chapter 3 Modeling of the Soft Machines User s NOIE Manual provides more information 2 Create empty shapes or frames and move them to the desired posed for flange and tip of cutter refer to Figure 7 6 and Figure 7 7 3 Use the Tool Setup panel to teach the flange and tip to the cutting tool mod
265. series of feedrate and rapid motions to support multiple web drilling There is no ISO 1056 standard for this option IPM IPR CYCLE THRU depth start depth MMPM j feed value MMPR seconds clear clear2 RAPTO start DWELL REV revolutions Developer s Guide 10 111 3 97 5 5 oO D ic D D 5 Using First Cut k The first depth value specifies the depth of the cut to drill the first web It is followed by pairs of values which indicate the starting depth and the depth of cut for the following webs All depth values are measured from the control point The clearance distances are optional They specify the original point clearance and the individual step clearances secondary If coded it must follow the feedrate parameter If omitted zero defaults will be used CYCLE THRU f1 f2 f3 IPM feed value r 1 Position at rapid to r above the control point i A 2 Feed a distance f1 below the control f1 point at feedrate inches minute 3 Rapid a distance f2 r below the control f2 point y B 4 ai a distance f3 below the control oint y 5 Rapid retract to a position r above the cS ee control point 10 112 CSINK Cycle The CSINK cycle performs a sequence of operations equivalent to the DRILL G81 fixed cycle in ISO 1056 The CSINK cycle is used to chamfer holes and provides a convenient input syntax suited
266. soft schines Developer s Guide SILMA Division of Adept Technology Inc Copyright March 1997 Adept Technology Inc ALL RIGHTS RESERVED This material is the property of Adept Technology Inc and contains confidential information No part of this publication may be reproduced published stored in a retrieval system or disclosed to others without prior written permission from Adept Technology Inc The use of general descriptive names trade names trademarks etc in this manual even if they are not especially identified does not mean that such names as understood by the Trade Marks and Merchandise Marks Act may accordingly be used freely by anyone The material contained herein is subject to change without notice Table of Contents Using this Manual Manual Conventions Notation Chapter 1 Introduction to the SIL Language SIL Language Overview SIL Compared to Pascal The SIL Programming Environment The SIL Runtime Model Environments Values Expressions Terms Statements Definitions Globals Types Functions and Procedures Variable Declarations Accessing Help Chapter 2 Object Oriented Programming in SIL Data Types Constructed Types Lists Arrays sarrays Functions and Procedures System Defined Types Strings String Comparisons String Conversions Istrings User Defined Types Developer s Guide 3 97 XV XVili 1 2 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 11 1 11 1 12 1 13 1 15 1 16
267. solution of the screen but substantially increases the time required to process a file The default value is twelve 12 The recommended range is between six 6 and thirty two 32 The number of facets across the fillet is controlled by NSIDES A 90 degree fillet A and B angles of zero would have NSIDES 4 facets so the default NSIDES of 12 will give 3 facets 10 74 Soft Machines Converting a CL File cltoncv Example Contol File The following is an example of a control file The stock and fixture defined in the control file are shown below BOX_TYPE SPECIFIED XC 30 YC 40 ZC 50 LENGTHX 30 WIDTHY 40 HEIGHTZ 60 FCX 1 30 FCY 1 65 FCZ 1 35 FLX 1 20 FWY 1 10 FHZ 1 30 FCX 2 30 FCY 2 15 FCZ 2 35 FLX 2 20 FWY 2 10 FHZ 2 30 DEFAULT _CUTTER SPECIFIED DC_D 1 0 DC_R 25 DC_E 25 DC_F 25 DC_ALPHA 0 DC_BETA 0 DC_H 5 MINIMUM_CUTTER_DIAMETER 1 MINIMUM_CUTTER_LENGTH 1 000 TOOL_AXIS SPECIFIED TAI 0 TAJ 1 TAK 0 MAX_FEED 100 0 NSIDES 12 ko 5 S a ir D a Developer s Guide 10 75 3 97 Using First Cut 70 60 50 40 30 20 10 Fixture 1 Stock wae lt een Fixture 2 x 10 20 30 40 50 10 20 30 40 50 10 20 30 40 50 60 70 Stock and fixture sketch NCV Input Data Formats 10 76 This chapter deals with the input format specifications
268. spob see lispob Ipoint type 3 34 machine_status type 6 19 metatypes 2 8 mismatch error 2 3 model data type 5 1 nev_sync_block type 9 12 ntype see ntype pipe 2 40 point type 3 34 pose 4 16 INDEX 3 Index real type 2 8 2 18 represented types is_reptyp function 2 10 scalar 2 4 2 8 semaphore type 2 38 shape 4 2 sreal type 2 18 string type 2 8 3 34 symbols 2 49 system defined 1 6 2 4 2 8 lt type gt p 3 34 universal see universal type user defined 1 6 2 6 data_variant operator 2 22 database 7 22 7 27 deactivate procedure 2 38 debug_frame variable 3 26 debugging 3 23 call stack 3 23 error break 3 27 Error gt prompt 3 23 menu mode 3 29 patching a function 3 25 pause break 3 27 ppause command 3 27 to_text_mode_on_error flag 3 29 trace back 3 24 deceleration 8 4 DEEP 10 105 default_gtable global 8 3 default_mtable global 8 3 define_method command 2 33 definitions 1 7 1 11 dependencies 3 19 3 22 Determine CL ID panel 10 151 dispatch procedure 2 16 Display 10 48 10 138 10 151 Show axes 10 48 Show cutter 10 48 Dithering 10 64 do_maiterial_removal task 7 31 do_set_units expression 8 2 10 79 INDEX 4 DRILL 10 100 Dynamic 10 43 dynamic list 2 2 E early binding see bindings early 2 16 ellipse adding 5 3 5 10 ellipsoid operator 5 11 empty lists 2 3 emptysarray command 2 4 End 10 147 end effectors 4 10 Enhance 10 49 Enhance when writing image 10 39 ENVECT 10 82 enviro
269. t The Solid cutter Switch Switching this on causes the cutter to be displayed as a solid Note that you can use this button during the simulation if you wish to switch between shaded and wireframe cutter display See also The Show cutter Switch on page 48 which shows how to turn the cutter display on and off The simulation runs slightly slower if this is switched on The switch has no effect in Playback mode The Continuous display of cutter Switch Switching this on causes the cutter to be displayed continuously as it moves between CL points This mode is significantly slower than the default mode which is to display the cutter once at each CL point This switch has no effect in Playback mode The Write image at cutter change Switch When you switch this on image files of the current screen image are automatically generated at each cutter change and also at the end of the NCV input file Output Name Conventions on page 10 17 explains how the files are named and Viewing Saved Images on page 3 36 explains how you may display the images on the screen or print them The Write image at error Switch When you switch this on image files are automatically generated whenever an error is detected and also at the end of the NCV input file Errors are defined as e Any rapid cut into the stock e Any cut into a fixture e Any holder or shaft cut into stock or fixture 10 38 Soft Machines First Cut
270. t is that the front of the model follows the mouse The Pan Selection Drags the model around the window following the mouse The Zoom Selection Scales the view up or down based on how the cursor is dragged across the window To enlarge the image press and hold the middle mouse button while moving the cursor up the window To shrink the image press and hold the middle mouse button while moving the cursor down the window The Rotate Z Selection Rotates the view around the line of sight When the cursor is dragged up the window the model rotates counter clockwise The rotation is reversed when the cursor is dragged down the window 10 44 Soft Machines First Cut Functions Simulation Mode Selections The Rotate Selection In Simulation mode you can dynamically rotate the part model To do this toggle Rotate from the Dynamic menu View Dynamic Fit Colors Display Modes Measure Rotate XY Alt X S Pan ARP O Zoom AR Z S Rotate Z Rotate v Move light Zoom Figure 10 38 The Dynamic menu Place your cursor to the left or right of center in your view of the part and then drag it left or right to rotate about the vertical axis To rotate about the horizontal axis do the same thing above or below the center of your view of the part and drag the cursor up or down The Move light Selection Developer s Guide 3 97 In Simulation mode you can move dynamically the light
271. t light gray color overcuts i e gouges are drawn in red undercuts are drawn in blue To return to normal display select the Compare button again In comparison mode the image can be flipped or zoomed but not rotated All Geometry Windows change to comparison NOTE mode and back together The Rotate Selection The Rotate dialog allows you to swivel the part model about its vertical or horizontal axis in order to see the part from different angles Developer s Guide 10 51 3 97 Using First Cut Select the Modes button in the Geometry Window and then select Rotate This will display the Rotate Shaded Image dialog Modes Tear of f _1 Enhance Section Compare Rotate Degrees CCW ijo Axis Vertical lt gt Horizontal Apply Cancel Alt S Alt R Figure 10 45 The Rotate Shaded Image panel To rotate the part Step 1 Enter the number of degrees negative if you wish that you want the part to be rotated The number of degrees is always taken as absolute and not as an increment or decrement to any previously entered number For vertical rotation a positive angle causes the front of the part to move to the right and a negative angle causes it to move to the left For horizontal rotation a positive angle rolls the front downwards and a negative rolls the front upwards Step 2 Select Apply Step 3 Select Cancel or select Reset all or Reset rot
272. ta from any CAM or APT system that has the ability to generate a standard IBM APT AC or 360 CL files or G codes NCV Input Data Formats on page 10 76 contains details of acceptable input formats The First Cut product supports conversion of binary CL files Figure 10 2 illustrates this process CAM CAM CAM en ee ae NCV File CL File Other format GOTO a Y CUTTERS Conversion Custom cltoncv Translator NCV File l a File NC Verification s Output Messages File Program Figure 10 2 Binary CL file conversion 10 4 Soft Machines Operation and User Interface A control file may be used with the cltoncv program to define stock and fixture parameters and other defaults See The Control File Option on page 10 69 for details Stock and fixtures can also be imported using SLA format files or can be defined within First Cut as boxes or cylinders or defined using profiles sweeps For most CAM systems the NCV CL file converter utility cltoncv combines the CL file and control file Gif used and converts the data into NCV simulation format A customized translator may be required for file formats from other CAM systems this can be written either by the end user or by SILMA The converted data is called the NCV file First Cut uses the NCV input file for the simulation session Image files may be created to allow screen images to be reviewed later Also the simulation may be recorded fo
273. tasks in 2 36 scheduler 9 6 9 10 9 12 signal command 2 39 2 41 start command 2 36 synchronization 2 38 tclosure type 2 46 temporal commands 2 34 tool changers 8 8 wait command 2 42 wait operator 2 38 2 41 tb command 3 26 tbn command 3 26 tclosure 2 46 2 48 is_tclosure function 2 10 tclosure type 2 46 temporal commands see tasks terms 1 7 Text Mode 1 4 2 36 3 23 3 29 THRU 10 111 tickers 2 37 tilde 10 106 Time 10 56 10 150 time commands see tasks simulated 2 34 2 36 TLAXIS 10 95 TMARK 10 86 10 95 tmethod 2 33 to_cstring function 2 19 to_text_mode_on_error flag 3 29 to_view operator 2 28 token 3 2 Tool 10 74 10 125 tool adaptor 7 3 Developer s Guide 3 97 Index changer 7 3 7 4 7 6 chain type 7 16 chain type tool magazines 8 9 class 7 14 constructing 7 16 holder mount position 7 14 machining center 8 8 rotating turrets 8 9 station 7 14 8 9 tasks 8 8 turning machine 8 9 turret type 7 15 cutting see cutting tool holder 7 3 7 4 7 17 class 7 11 constructing 7 13 cutting tool mounting 7 11 flange 7 11 7 20 mount position 7 11 retrieving 7 19 type 7 12 holder cutter assembly 7 6 offsets 7 27 turning 7 3 tool library 6 18 6 19 7 4 7 17 7 25 auxiliary data 7 24 class 7 17 database integrating 7 22 tool magazine 7 6 Tool Setup panel 7 10 tool_changer class 7 14 tool_holder class 7 11 tool_lib class 7 17 7 22 TOOLNO 10 86 10 96 top bar 3 13 trace back 3 24 3 26 Translate 10 29 tr
274. te panel is displayed 3 In the Rotate panel select the axis about which the part is to be rotated and enter the number of degrees rotation in the Angle box As with the Translate panel Apply applies the absolute value and does not add it to any previous value used OK effects the rotation permanently and dismisses the panel Selecting Cancel dismisses the panel and all remains as it was before Rotate was selected Scaling a Model The Scale panel is used to change the size of a part stock or fixture model Before displaying the panel select the model to be scaled using your left mouse button Selecting Scale from the Model menu displays the Scale panel Scale factor 9 OK Cancel Figure 10 25 The Scale panel Typically this panel is used to convert between English and metric sizes To do this simply click on the in gt mm or mm sin button The Scale factor will be updated with the appropriate value Select OK to update the model 10 30 Soft Machines First Cut Functions Alternatively you can enter a value in the Scale factor field and select OK Scale factors smaller than 10 or larger than 104 are not allowed However scaling by larger factors can be accomplished by repeated scale operations if necessary Control Menu The Control pulldown menu enables you to control how First Cut should operate in various ways For example if only a portion of the input file is to be simulated then t
275. ted1 in tedsproduct we edit its version file cim templates tedsproduct versions The following command remake ted tedsproduct will remake ted2 and rbuild tedsproduct will rebuild the product with ted2 Developer s Guide 3 17 3 97 Working with SILCode Including Modules and Products in the Product Administration Panel 3 18 The Product Administration panel is used to create and start new products The panel is displayed by entering sspa in a shell window Adding New Modules All the available modules should be listed in the Available Modules list in the Create Product panel which is displayed by selecting Create from the Products pulldown menu in the Product Administration panel Modules may be made available for use in the Product Administration panel by editing the file cim options versions and adding the line lt module gt lt version gt A module should be listed only once Adding New Products All the available products should be listed in the Select Product to Start list in the Product Administration panel Products may be made available to be built in the Product Administration panel by creating an application solution module appsol which should contain the following files 1 supmodules lists the modules to be included in the product top_init sil welcome msg startup msg Layout files AM PWN appsol marking the module as an appsol Soft Machines Dependency Management The
276. th the rules used in this manual These conventions provide readers with a means of denoting specific types of symbols and of writing rules in an abbreviated fashion 1 Rules with the same left hand side lt A gt exp1 lt A gt exp2 lt A gt exp3 can be rewritten in a single line as lt A gt exp exp2 exp3 2 Rules with the same right hand side xviii Soft Machines Developer s Guide 3 97 Notation lt A1 gt exp lt A2 gt exp lt A3 gt exp can be rewritten in a single line as lt A1 gt lt A2 gt lt A3 gt exp Rules in which one right hand side is a substring of another lt A gt ac abc can be rewritten as a single rule lt A gt a b c Here b indicates that the string b is optional Recursive forms can be written with rules such as lt A gt e e lt A gt or lt A gt e Here e e means that A can be replaced by a string of one or more e s A non terminal symbol is any character string enclosed by angle brackets lt gt lt parameter list gt lt function application gt lt etc gt xix Using this Manual All other character strings are terminals XX Soft Machines Chapter 1 Introduction to the SIL Language Although the Soft Machines menus provide most of the commands you need you can also create your own commands by writing programs in a language called SIL Using the SIL language you can develop your own So
277. ties including stock and fixture definition See Model Menu on page 10 22 Contol Enables you to control how First Cut should operate in various ways You can also define defaults for items such as cutters See Control Menu on page 10 31 Table 9 2 Metal Removal Window selections 10 10 Soft Machines First Cut Functions Menu Description Auto Enables you to specify various actions to be carried out automatically during the simulation See Auto Menu on page 10 36 Windows Enables you to create additional views of the simulation See Windows Menu on page 10 40 Table 9 2 Metal Removal Window selections continued Geometry Window The Geometry Window displays the simulation Selecting Create Geometry Window from the Windows pulldown menu in the Metal Removal Window displays the Geometry Window 6 2 a r to N gt View Dynamic Fit Colors Display Modes Measure Figure 10 8 The Geometry Window Developer s Guide 10 11 3 97 Using First Cut Table 9 3 describes the Geometry Window selections and tells you where the menu is described in greater detail Menu Description View Dynamic Colors Display Modes Measure Enables you to set the view orientation in the window Different windows can have different views See View Menu on page 10 42 Enables you to rotate pan and zoom the model while you are sett
278. tion group sets the G code and executes g_function gcode_closure a negative value sets the G code but does not execute any task Group numbers for the default G table is as follows default Code Gm Description G0 1 Rapid Transverse G1 1 Linear Interpolation G2 1 Circular Interpolation CW G3 1 Circular Interpolation CCW G4 0 Program Delay G8 9 Disable Acceleration Deceleration Control G9 9 Enable Acceleration Deceleration Control G17 2 Plane Selection XY G18 2 Plane Selection ZX G19 2 Plane Selection YZ G28 0 Move axes to HOME position G40 T Radius Compensation OFF G41 7 Cutter Compensation LEFT G42 7 Cutter Compensation RIGHT G53 0 Move wrt Machine Coordinates Table 8 4 Group numbers for the default G table Developer s Guide 8 25 a x 7 H S zZ NC Tasks Code Gm Description G54 12 Move wrt Work Coordinates 1 G55 12 Move wrt Work Coordinates 2 G56 12 Move wrt Work Coordinates 3 G57 12 Move wrt Work Coordinates 4 G58 12 Move wrt Work Coordinates 5 G59 12 Move wrt Work Coordinates 6 G60 13 Single Direction Positioning G61 13 Exact Stop Mode G62 13 Corner Radius Override G63 13 Tapping Mode G64 13 Cutting Mode G68 16 Coordinate System Rotation G69 16 Coordinate System Rotation G70 6 Inch Programming G71 6 Metric mm Programming G73 9 Canned cycle Rapid Drilling G74 9 Canned Cycle Left Hand Tapping G76 9 Canned Cycle Fine Boring
279. tional Stock and fixture geometries can be defined interactively Control files used with previous releases however can still be used as part of the CL file conversion process For more information on control files see The Control File Option on page 10 69 File Conversion Program cltoncv The CL file and the control file are combined and converted to the format used by the simulation program by the file conversion program cltoncv For more information on control files see The Control File Option on page 10 69 and Sample Control File on page 7 42 To execute the program that converts the CL file key in cltoncv tutorcl tutorct lt RETURN gt where tutorcl is the name of the cl file and tutorct is the control file For CL files from CATIA a w parameter is added to the command line for example cltoncv w tutorcl tutorct Developer s Guide 10 67 3 97 5 5 oO D ic D D 5 Using First C ut 10 68 The following illustration shows a typical sequence of actions unix 15 ls tutor tutorel tutorct unix 16 cltoncy tutorcl tutorct Processing gt tutorcl tutorct 67788 Dec 17 10 30 tutorcl 102 Dec 17 10 30 tutorcl mes 47153 Dec 17 10 30 tutorcl ncv 653 Dec 17 10 30 tutorct Figure 10 53 The file conversion program In the illustration you will see that the directory contents have been listed and then the command has been keyed in If you do not key in
280. tive cutting tool we define get_active_cutter function get_active_cutter m nc_machine cutting _tool var ct cutting tool th tool_holder begin ct nil as_type cutting_tool th get_active_holder m if not nul th then ct th cutter get_active_cutter ct end Developer s Guide 7 19 3 97 Modeling NC Tooling To find the tip of the active cutting tool function get_cutter_tip m nc_machine frame var ct cutting_tool begin ct get_active_cutter m if not nul ct then get_cutter_tip pose ct ct tip else get_cutter_tip null_frame end A more general example is shown in Example 7 4 7 20 Soft Machines Tool Library D Z D D la Developer s Guide 3 97 Modeling NC Tooling 7 22 Interface to an Extemal Tool Database Soft Machines allows data from an external database to be integrated into the tool library object through the universal field aux in the tool_lib object class The aux field gives us the flexibility of incorporating data of many different types by casting them into type universal and hence the ability to upload tool data from different databases each with its own special data format Example 7 5 shows examples of attaching different data types to a tool library Example 7 5 Data structure for Kearney and Tracker Moduline Series type kt_tool_data Irecord stn_no integer tool_i
281. to that point First Cut has many features such as pointing image enhancement flip and zoom that are used to evaluate the work in process model The simulation session can be run interactively or one or more input files can run unattended In either mode you can record the session for later playback and or you can automatically store screen images at each cutter change or error to review later You can detect errors and identify inefficient tool motions either live during the simulation or when replaying the recording or when reviewing the images Developer s Guide 10 7 3 97 Using First Cut First Cut Functions This section describes the First Cut functions grouped by the window in which they are accessed Introduction to the Windows Used for First C ut Functions Switching on O Metal Removal in the Simulation Setup panel displays the Metal Removal Setup panel and the Metal Removal Window The other window that is used for metal removal is the Geometry Window which is displayed by selecting Create Geometry Window from the Windows pulldown menu in the Metal Removal Window Figure 10 4 The Metal Removal Setup panel The Metal Removal Setup panel is described in Using the Metal Removal Setup Panel on page 10 9 10 8 Soft Machines First Cut Functions Using the Metal Removal Setup Panel The Metal Removal Setup panel is used to load the NC files you wish to verify select the number and types and of views
282. tore access to the menus If the system has become disabled enter r at the Error gt prompt to reset the system The SILRuntime Model This section contains the following topics gt Environments gt Values gt Expressions E Terms E Statements E Definitions 1 4 Soft Machines The SIL Runtime Model SIL is an interpreted language This means that an expression is read from a file or the keyboard and is passed to the SIL interpreter which then computes the value of the expression The computed value is passed to a printer which writes it to a file or the screen and the cycle repeats Figure 1 4 shows a representation of the relationships between the components of the SIL runtime model Interpreter Virtual Memory Figure 1 4 The SIL runtime model Environments Environments are either permanent or temporary The permanent environment is called the global environment The global environment contains bindings for E All type names E Function procedure names E Global variables Local environments contain bindings for E The parameters of a function procedure E The local variables of a function procedure Developer s Guide 1 5 3 97 lt o c 2 3 fe d ca D d Sr 42 Introduction to the SIL Language Values Values or data objects are the scalars and data structures such as numbers strings records and arrays that inhabit the computer
283. truct SIL object nc_machine An example of constructing the ne_machine object class is shown in Example 6 3 6 22 Soft Machines Summary S 3 De ae ko M of Developer s Guide 3 97 Modeling NC Machines Soft Machines Chapter 7 Modeling NC Tooling This chapter introduces the following topics gt The Tooling Assembly dD O He iS zZ dD D 3 a gt Cutting Tool gt Tool Holder gt Tool Changer gt Tool Library gt Setting Cutter Offsets E Setting Offsets for End Effectors Inverse Kinematics E Setting Offsets in Joint Vectors gt Assigning Additional Properties E Collision Detection E Material Removal E Spindle On Off Classes and Inheritance on page 2 24 explained how to apply the concept of classes and inheritance to add properties to an existing object specialization of a object without having to examine the low level properties of the object This chapter describes how to construct specialized objects in Soft Machines to model NC tooling in particular how to create special classes of SIL objects to contain properties related to cutters tool holders and tool changers Developer s Guide 7 1 3 97 Modeling NC Tooling The Tooling Assembly Figure 7 1 shows the class hierarchy of objects used in Soft Machines cutting_tool tool_holder tool_changer tool_library end effector robot nc machine machining
284. tter pos cutter in_frame work_coord n The default unit in Soft Machines is always centimeter cm The arguments of crt_cutter crt_cutter xc crt_cutter yc crt_cutter zc will therefore be represented in cm To find the Cartesian coordinates in current units used inch mm etc we do crt_cutter pos cutter in_frame work_coord n 1 current_unit where current_unit can be cm mm inch meter etc To find the yaw pitch roll of the cutter in frame of the work coordinates var ypr_cutter ypr ypr_cutter ornt pose cutter in_frame work_coord n ypr where ornt returns the orientation type rotmat of a pose and ypr coerces the type rotmat rotation matrix to ypr yaw pitch roll Example 4 3 illustrates how to move a cutter in frame of different work c 2 coordinates rage 3 g ES Example 4 3 o i Suppose the object VMC_REF defines the reference coordinate of the NC machine VMC We add 6 sub objects VMC_REF WORK_COORD_1 VMC_REF WORK_COORD_2 VMC_REF WORK_COORD_6 to define the 6 possible work coordinate systems These statements are used to move an object using the work coordinate systems as reference frame ref_frame pose wikup VMC_REF WORK_COORD _ int2str current_work_coord where current_work_coord is one of 1 2 3 4 5 6 continued on next page Developer s Guide 4 21 3 97 Geometry in Soft Machines 4 22 Soft Machines Chapter 5
285. turns a value whereas a procedure operates purely by side effect Variable Declarations The format of a variable declaration is var lt variable declarations gt lt variable declarations gt where lt variable declarations gt is a list of variables followed by a type expression lt variable declarations gt lt variable list gt lt type gt Variable lists are variables separated by commas lt variable list gt lt variable gt lt variable gt In the global environment be sure to place a double semi colon at the end of the variable declaration so that the interpreter will not expect more variable declarations Developer s Guide 1 15 3 97 Intoduction to the SIL Language Accessing Help SIL includes a simple help facility help lt name gt The help command prints out all of the variants of the given name their types and the name of the file in which they were defined Example 1 13 shows part of the information printed out for the plus command in a Soft Machines state The help command also prints out type definitions 1 16 Soft Machines Chapter 2 Object Oriented Programming in SIL Data Types This chapter contains the following topics gt Vv VVVYVYV Y Data Types Advanced Data Types C Data Types Casting Polymorphism Classes and Inheritance Concurrency Closures and tclosures Symbols Data Types This section contains these topics
286. tween the flange of the machine and the tip of the cutter see Figure 7 11 and Figure 7 12 i Offset Location of move handle OFFSET VECTOR Original Location of move handle Figure 7 11 Setting cutter offset turning machine Original Location of move handle Offset Location i of move handle OF FSET VECTOR oa Figure 7 12 Setting cutter offset milling machine 7 26 Soft Machines Setting Cutter Offsets To determine the tool offset vector you can either compute it from the cutting tool model or use information provided from an external tool database Example 7 7 shows how to calculate the pose of the tip of the active cutter on an NC machine D S Z dD D la The same concept can be used if the offset vector is determined by an external database We summarize the steps as follows 1 Reset all previous tool offsets by moving the move handle to the flange of the machine remembering to unaffix the handle from the flange before the move 2 Move the handle to a new point as defined by the offset vector 3 Affix handle to flange Developer s Guide 7 27 3 97 Modeling NC Tooling Setting Offsets in J oint Vectors Simulations consisting of forward kinematics JV moves require cutter offsets to be represented in joint vectors NC Coordinates in Joint Space
287. type gt indexed from 0 to lt integer gt As in Pascal if v is an array and i is a valid index then v i is an expression whose value is the element of v with index i and v i lt term gt sets the index i component of v to be the value of lt term gt As with lists the type of lt term gt must match the base type of v or a type mismatch error will result Unlike Pascal SIL functions can return arrays as values Developer s Guide 2 3 3 97 Object Oriented Programming in SIL 2 4 sanays An sarray is a dynamically allocated array which can grow and shrink during program execution You can add items to the sarray and the sarray will automatically resize itself to fit the new elements As with standard arrays if s is an sarray and i is a valid index then s i returns the ith element of the sarray and s i lt term gt sets the index i component of s to be the value of lt term gt Also like arrays lt term gt must match the base type of s or a type mismatch error will occur The command emptysarray lt type gt returns a new sarray Functions and Procedures E function real integer integer is the type of all functions that take two integer inputs and return a real output Integer division is a function in this type E procedure real integer is the type of all procedures which expect a real valued and integer valued input System Defined Types SIL system defined types include the basic scalar typ
288. u can also create xwd files with black images on a white background Soft Machines First Cut Functions The Use playback file Selection Selecting the Use playback file button from the File menu displays the Use Playback File panel which is used to select and read the specified playback file These features are fully described under The Read NC File Panel on page 10 16 Use playback file is used in Set up Simulation and Playback modes In Simulation and Setup modes you can key in the name of the playback file to be created when you click Record which will be used also as the name of the file to be read when you hit Playback In Playback mode it reads the specified playback file The Read batch file Selection The batch file facility requires the name of a file that contains a list of file names to be processed sequentially and automatically once you have commenced your simulation Note that if you are processing a series of files automatically using this feature then all the defaults that you set before commencing your first simulation will apply throughout the series S DSi y WL to N The Exit Selection This selection is used to exit First Cut without quitting Soft Machines You are asked to confirm that you really want to leave First Cut Figure 10 14 Exit confirmation requestor Developer s Guide 10 21 3 97 Using First Cut OK exits and remove all the F
289. u may construct an equivalent angle axis orientation with the command mk_aax lt xeq gt lt yeq gt lt zeq gt Developer s Guide 4 13 3 97 8 Be 3g E Be 2 Geometry in Soft Machines 4 14 Although it is not easy to determine the appropriate general axis and proper rotation to produce a desired orientation the equivalent angle axis representation is useful for producing complex orientations when you know both the axis and amount of rotation Consider the antenna in Figure 4 11 Figure 4 11 Angle axis orientation The Z axis of the dish s frame is normal to the dish at its center and is tilted 30 degrees from vertical in its YZ plane To rotate the dish 90 degrees while maintaining the same tilt you must determine the unit vector of rotation along the vertical axis in the dish s frame which is 0 sin30 cos30 Next multiply the vector by the desired rotation of 90 The resultant orientation with respect to the initial orientation is 0 45 77 9 as aax When orientations involve only a single rotation about the X Y or Z axis of the reference frame copy it makes no difference whether you describe them using yaw pitch roll X Y Z Euler angles or equivalent angle axis For example the following commands each describe the same orientation 0 70 0 as ypr 0 70 0 as xyz 0 70 0 as aax Soft Machines Orientation Figure 4 12 illustrates that this is not the case for orientations involving
290. uate both the point and tangent with respect to this new location use the following syntax instead pnt seg_pose pc eval_at pc t tangt ornt seg_pose pc tangent_at pc t Parametric Surfaces Given a parametric surface ps and parametric variables u and v the command for evaluating the point on the parametric surface at u v is pnt eval_at ps u v The command to evaluate the normal at u v is nrm normal_at ps u v Considerations regarding seg_pose with parametric surfaces are similar to those regarding seg_pose with parametric curves The syntax to evaluate points and normals on a parametric surface ps in absolute World coordinates is pnt seg_pose ps eval_at ps u v nrm ornt seg_pose ps normal_at ps u v Soft Machines Modeling Constructors Wireframe Models Operator Resulting Shape chain list lt point1 gt lt point2 gt lt pointn gt open chain Volume Models Cylinder resolution number of facets in circumference of the cylinder if omitted c_circ_res is used angle between 0 and 360 creates partial cylinder Operator Resulting Shape cylinder lt radius gt lt angle gt lt height gt cylinder lt resolution gt Block Operator Resulting Shape block lt length gt lt width gt lt height gt block Pipe radius1 outside radius radius inside radius resolution number of trapezoidal prisms in the pipe if om
291. uct which will create the new executable and heap file call rbuild lt product gt base Do not use sspa to build products with Soft Machines as it was not designed to work in a development environment Compiling SIL Code This section contains descriptions of the procedures used to create a module of SIL and C code to compile this code and to create a product which includes the code Suppose that the module is called ted If no version of ted exists the following command creates a completely new module with one version ted1 newmodule ted ted1 The newmodule command automatically sets up all the directories listed at the top of the page cim mecode ted cim sil ted cim mhfiles ted cim actions ted and cim builds ted1 The newmodule command also sets up the s mc mh links in the cim builds ted1 directory 3 14 Soft Machines Compiling SIL Code 23 o O O a ow Example 3 9 shows how each of sil_files andc_files is atwo line text file giving the names of the files to be included without the sil or c extensions Compiling the code is a two step process First the SIL code is translated to C and then compiled to binary The first step is accomplished with a SIL command and the second step with a shell window command This SIL command SIL gt compile_area lt module gt lt version gt compiles all of the SIL files in the given version of the given module For example SIL
292. uct a new three character string for the second assignment Repeated assignments like these can result in an inefficient consumption of memory To combat this problem SIL provides an Istring which can be defined as follows Istring lrecord length integer contents string end Primitive operations on Istrings function mk_Istring x string Istring function mk_Istring x string n integer Istring function copy x Istring Istring Allocates a new string function substring x Istring n m integer Istring function select x Istring n m integer Istring function equal x Istring y string boolean function select x Istring y integer procedure lowercase x Istring procedure concat_onto y string x Istring function Istr_to_str x Istring string function to_Istring x string Istring procedure float2lstr y real Is Istring function find cnx string Inx integer cny string Iny integer integer function find x string y string integer function find x Istring y string integer function find x Istring y Istring integer procedure concat_onto x Istring n char User Defined Types User defined types are created by type definitions type lt name gt lt type expression gt Any kind of type expression can be used in a type definition Two of the most commonly used of these types records and Irecords are described in the following
293. ude the basic scalar types integer real boolean string But SIL also provides some fairly exotic types For example internal representations of SIL expressions and their components are also ordinary SIL data objects which can be manipulated by SIL programs the same way that scalars can These are called metaobjects and the types to which they belong are called metatypes Another category of useful system defined types is the supertypes If we think of types as sets of values then all types can be regarded as subsets of the supertypes The two supertypes are lispob and universal Scalartypes Metatypes Supertypes string integer boolean real ntype lispob universal Figure 2 2 System defined type classifications 2 8 Soft Machines Advanced Data Types ntype The type ntype the type of all types can be defined grammatically by lt ntype gt lt dtype gt lt polymorphic type gt lt dtype gt lt primitive type gt lt constructed type gt lt primitive type gt lt user defined type gt lt atomic type gt lt atomic type gt lt scalar type gt lt metatype gt lt supertype gt lt scalar type gt integer boolean char string real lt metatype gt id sconst ntype tform iform net event lt supertype gt universal lispob lt constructed type gt array_of lt dtype gt list_of lt dtype gt
294. umber of polygons each polygon may contain any number of vertices G Code Input G Codes Supported G00 G01 G02 G03 G17 G18 G19 G28 G40 G41 G42 G54 Rapid motion to the specified location Cutting motion to the specified location Clockwise arc to the specified location Counterclockwise arc to the specified location Set current plane to XY Set current plane to ZX Set current plane to YZ Go to the reference location Cancel cutter offset Start cutter offset to left of cutter path Start cutter offset to right of cutter path Set Work Coordinate System 1 Soft Machines NCV Input Data Formats G55 Set Work Coordinate System 2 G56 Set Work Coordinate System 3 G57 Set Work Coordinate System 4 G58 Set Work Coordinate System 5 G59 Set Work Coordinate System 6 G90 Use absolute cutter coordinates G91 Use relative cutter coordinates G92 Change the coordinate system so that specified coords apply to current position translate all Work CS s by same amount 3 Other Codes Supported 2 D D codes specify a cutter offset distance E F codes specify a new feedrate 5 H H codes specify a cutter offset distance M M codes are ignored N N codes specify the CL ID S S codes specify spindle speed T T codes cause a change to the specified cutter Restrictions Circular arcs are supported but not spiral or helical arcs The cutter axis is always 0 0 1 Processing NCV pre processes G code files
295. uring the conversion See Converting a CL File cltoncv on page 66 for more info on the CL file converter Developer s Guide 10 133 3 97 any 6 od D ic D D Using First Cut Simulation Session Part One Reading the NC File You will see the Read NCV File panel which is the file selection window for NCV Filter plus2 ncv demos ncv Directories NC Files Wyanavecmesm blockncv A plus2 ncv demos clevis ncv gouge ncv test ncv tutorcl ncev vise ncv vise_f ncv J ViSe_Z ncv Al gt x E F Selection plus2 ncv demos OK Filter Cancel Figure 10 59 The Read NCV File panel This window shows you the files with the suffix nev in your current directory The name of the directory is highlighted Above the Directories list is the Filter field This works using any combination you wish of directory and file names and wildcards A wildcard is an asterisk and is used to denote any string of characters when you are searching for a name a question mark may be used as a wildcard for a single character In the example you can see that the filter has been set to the highlighted directory you could have keyed this in or selected it from the file list using the left 10 134 Soft Machines First Cut Tutorial mouse button The end of the filter has been set to nev which means that you want to see all files in the selected director
296. usually home position Soft Machines Creating SIL Tasks for NC Machines 2 Search tool from tool magazine by indexing the tool chain to the specified station most machines use the shortest path to determine forward or reverse indexing 3 Exchange tool between tool magazine and machine spindle 4 Update tooling data if applicable see Example 8 3 For a turning machine with rotating turret the typical tool change sequence is 7 x N J iS z 1 Index turret to specified station 2 Update tooling data if applicable see Example 8 4 Soft Machines includes built in routines for indexing chain type tool magazines nev_index_tc and rotating turrets ncv_index_turret task ncv_index_tc m nc_machine forward boolean task ncv_index_tc m nc_machine target_station integer task ncv_index_turret m nc_machine forward boolean task ncv_index_turret m nc_machine target_station integer where forward is TRUE when indexing forward FALSE when indexing backward and target_station is the specified station number shortest path used Example 8 3 Step 1 Construct task for exchanging tool between cutter and magazine task kt_moduline_swap_tool m nc_machine var arm extender pocket spindle_flange shape stn_no integer th1 th2 tool_holder td_tmp kt_tool_data sh shape continued on next page Developer s Guide 8 9 3 97 NC Tasks 8 10 S
297. ut 10 9 would not REMARK statements are ignored Lines beginning with are ignored Continuation lines i e lines ending in are handled Numeric Convention The Major Word Table in the next section defines the value types that precede and follow each major word using the following syntax float integer char whole number decimal number or scientific notation number whole number character string Take for example the following declaration CUTER Fomat integer char float float float float float float float Use Defines the tool pam 1 CL record number pam 2 CUTTER pam 3 9 APT cutter parameters dre fab h NCV recognizes the major word CUTTER and uses it to define the cutting tool NCV expects this word to be the second major word on the input line and to be followed by the seven floating point numbers which define an APT cutter For example 84 CUTTER 1 0 0 12000 0 380 0 120 0 00 0 00 5 000 Soft Machines Major Word Table Format integer char char Use Comment line pam 1 CL record number pam 2 pam 3 Comment string of characters and spaces BOX Format integer char float float float float float float Use Defines a stock box using center point and dimensions pam 1 CL record number ignored pam 2 BOX pam 3 5 Box center X Y and Z coordinates pam 6 8 Box dimensions LENGTHX WIDTHY HEIGHTZ BREAK Format integer char Use Stops simulation at next CL point pam 1
298. v v vjt Conic Surface Constructors Operator Resulting Shape ellipsoid a b c real sdiv integer shape ellipsoid a b c real shape These functions construct the ellipsoid of dimension a b and c about origin Evaluating Parametric Shapes Use the commands in this section through page 5 14 to evaluate points tangents and normals of parametric curves and parametric surfaces Parametric Curves Given a parametric curve pe and a parametric variable t the command for evaluating the point on the parametric curve at t is pnt eval_at pc t where pnt is the point on the parametric curve pe at t The command for evaluating the tangent of the parametric curve at tis ann 9 36 2E 2E 36 3a P tangt tangent_at pc t where tangt is the tangent of pe at t In Soft Machines each shape has a frame known as its seg_pose The seg_pose of a shape is the frame that locates the shape from its default location to a desired location in the workcell Developer s Guide 5 11 3 97 Modeling Using SL Commands For example the seg_pose of a surface of revolution is at the pose of the World when it is created However when the surface of revolution is moved to another location the seg_pose is no longer at the pose of the World Note that both eval_at and tangent_at evaluate points and tangents at the default location Therefore if a parametric shape is moved to a new location and you wish to eval
299. view operator will generate an error if the class of any other view of the object is a subclass of the class of the view being removed If this restriction were not observed objects with dangling superclass pointers would result A view which has been removed should not be referenced after its removal Abstract Classes This section describes the abstract class facility and is intended for advanced SIL language users This section includes the following topics E Installation of Methods Additional Methods Primitives E The mnode Class The abstract class facility provides the same sort of functionality as C virtual functions you can define abstract classes whose methods can be implemented by a variety of concrete classes The facility is more flexible than anything available in C in that it allows dynamic modification of the implementing classes and methods of an abstract class Abstract classes can also be spliced onto pre existing concrete classes allowing abstractions to be layered onto existing bodies of concrete code Developer s Guide 2 29 3 97 Object Oriented Programming in SIL 2 30 Example 2 11 introduces abstract classes by showing a conventional example an abstract stack class Example 2 11 type astack class push method ob ob ipop method ob empty method boolean on_underflow method ob end NOTE This example will be continued after the following information
300. wghts all weights equal to 1 0 cpts control points Operator rbspline Resulting Shape mk_pcurvelist pcs list of pcurve mk_pcurve p pnt3dr p point mk_pcurve p seg3dr p line segment Developer s Guide 3 97 pcurvelist pcurve pcurve nn 9 36 2E ace 36 P Modeling Using SL Commands Surfaces Cap angle 0 to 360 degrees creates partial cap The edge of a partial cap starts at x lt radius gt y 0 sweeps counter clockwise lt angle gt degrees around the Z axis and has an additional edge to close the polygon resolution number of facets in cap if omitted c_circ_res is used Operator Resulting Shape mk_cap lt radius gt lt angle gt circular polygon mk_cap lt radius gt lt angle gt lt resolution gt circular polygon Facet The first three points establish the plane of the facet and all points specified subsequent to them must lie in that plane Order the points in the counterclockwise direction looking toward the facet from its outside This establishes the direction of the facet s normal Operator Resulting Shape facet list lt point1 gt lt point2 gt lt point3 gt convex planar L lt pointn gt polygon facet array lt point1 gt lt point2 gt lt point3 gt convex planar L lt pointn gt polygon 5 4 Soft Machines Developer s Guide 3 97 Modeling Constructors Plane Surface n normal d distance to origin
301. wish of directory and filenames and wildcards A wildcard is an asterisk or question mark or an asterisk matches any string a question mark matches any single character they are used to denote any set of characters when you are searching for a name In the 10 16 Soft Machines First Cut Functions example you can see that the filter has been set to the highlighted directory you could have keyed this in or selected it from the file list using the left mouse button The end of the filter has been set to ncv which means that you want to see all files in the selected directory that have a suffix of nev In accordance with the Filter the files listed in the NC Files box are all those with the given suffix Input Name Conventions and Pre Processing You can use any names and suffixes you wish for your files First Cut defaults to the suffixes nev for NC program files catia for NC program files output by CATIA ge for G code files play for playback files wip for work in process files and st1 for stereolithography format files 5 5 oO D ic D D 5 When you select the file that you wish to process First Cut runs one of several pre processor programs to convert the file to its standard input format You may if you wish produce your own script and give it the name nevin with a suffix of your own choosing and then use the same suffix for your input files Detailed discussion and descriptio
302. y Although inverse kinematics provide a more straight forward way to implement the NC simulator forward kinematics moves are required when E The machine does not have close form inverse kinematics no redundant axes E The work coordinates and reference coordinates cannot be represented as poses in Soft Machines Attaching a Tool Library to an NC Machine Before a machine tool can perform any machining operations tooling is first mounted to the machine In Soft Machines NC tooling tool changers tool holders and cutters are modeled and saved as tool libraries When part programs are loaded for simulation the appropriate tool libraries must be installed into the workcell and attached to the machine tool model Soft Machines Machine Status The location where the tool library is affixed to the machine model is defined in the changer_mount type string field of nc_machine When a tool library is installed Soft Machines automatically moves it to the pose of the object declared in nc changer_mount and also affixes the tool library to it The name of the tool library is then attached to the tlib field When the tool library is mounted to one of the links of the machine as in the case of rotating turrets for lathes the link number is also declared in the changer_link field The field station_no allows tool change routines to update the tool changer station number after a tool change has been executed Developing SIL tasks to perfor
303. y that have a suffix of nev In accordance with the filter the NC Files listed in their box are all those with the given suffix Note the scroll bars that are to the right and below the Directories list and NC files If you put your cursor on the slider bar or marker you can scroll your way up and down the lists or from left to right of any name Select the file that you previously created tutorc1 ncv by selecting it with the mouse The name will be transferred to the Selection box Now you can select OK to read in the file Instead of selecting OK you can also double click on the file name to read in the file The Read NC File dialog is dismissed and you will see the Metal Removal Window Z 6 od D i D D File Model Control Auto Views Feed Set Up Coolnt Q Simulate o vy Play back H CL ID Go ToEnd Slow Stop Figure 10 60 The Metal Removal Window Developer s Guide 10 135 3 97 Using First Cut In parallel First Cut will be creating a Geometry Window Figure 10 61 A Geometry Window View Dynamic Fit Colors Display Modes Measure Soft Machines 10 136 Metal Removal Window This is the Metal Removal Window These buttons display menus of control functions P File Model Control Auto Views These buttons are used to set which mode you want to run These buttons control the simulation

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