integration of cad / cam for manufacturing of - DORAS

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INTEGRATION OF CAD / CAM FOR
MANUFACTURING OF COMPLEX SHAPED COMPONENTS
USING A ROBOTIC MANIPULATOR
Liu Ruishan, B.Eng.
This thesis is submitted to Dublin City University
in fulfilment for the degree of
Master of Engineering
Supervisor: Professor M.S.J. Hashmi
School of Mechanical and Manufacturing Engineering
Dublin City University
September, 1994
ACKNOW LEDGM ENT
I wish to express my
produce this work.
Professor
M.S.J.
gratitude to all
those who helped me to
Especial gratitude
is due to my supervisor
Hashmi,
manufacturing engineering
Head
of
the
school
of
mechanical
&
(D.C.U.), who originally conceived the
project and guided me in a very professional manner throughout the
duration of the project.
I would also like to express my sincere
appreciation
Walsh
to Mr.
Tom
and Mr.
liam
assistance during the course of this research.
I
Domican
for
their
DECLARATION
I hereby declare that all unreferenced work described in this
thesis is entirely my own,
submitted in support of
and no part of this work has been
an application for
another degree or
qualification of this or any other university or other institute of
learning.
Liu Ruishan
I . D . N O . 93700253
II
INTEGRATION OF CAD/CAM FOR
MANUFACTURING OF COMPLEX SHAPED
COMPONENTS USING A ROBOTIC M A NIPULATOR
LIU RUISHAN
(B.Eng.)
Abstract
The practical value and the features of 3D-CAD in geometry,
machining and drawing interchange files for Wire Electric Discharge
Machining (WEDM) are analyzed and described.
A simple practical set of methods in which a variety of 3D
complex shape drawings suitable for WEDM could be easily created,
analyzed and transferred to other forms for Wire Electric Discharge
Machining have also been developed and are introduced here towards
the aim of integrating of CAD-CAM based on AUTOCAD Release 11.
A communication protocol between CAD and CAM has been set up,
that is to say , a DXF interface programme has been developed to
communicate with AUTOCAD via the DXF mechanism to create a standard
database which makes it possible to realise the integration of CAD
and CAM.
A universal control programme has also been developed which is
suitable for machining any kind of complex shaped model in WEDM.
Improving the accuracy of WEDM
integrating CAD and CAM is discussed.
machining
by
means
of
Lastly, a number of WEDM tests have been performed by the way
of integration of CAD and CAM which proved that the simulation
cutting, the methods adopted, programmes developed and conclusions
mentioned here are satisfactory.
Ill
CONTENTS
A C K N O W L E D G E M E N T ............................................................. I
DECLARATION...................................................................................................................................... I I
ABSTRACT........................................................................................................................................... I l l
CONTENTS.............................................................................................................................................. IV
CHAPTER 1
INTRODUCTION....................................................................................................1
1.1
Background of this project................................. 1
1.2
Wire Electric Discharge Machining.......................... 7
1.3
Integration of CAD and CAM................................ 10
1.3.1 Computer Aided Design............................ ....10
1.3.2 Computer Aided Manufacturing......................... 13
1.3.3 Integration of CAD and CAM........................... 14
1.4 Plan and Aim
CHAPTER 2
of thepresent
work........................... 19
TECHNIQUE FORCREATING 3D DRAWING..........................................21
2.1
Introduction for 3D-CAD for WEDM.......................... 22
2.2
Geometry features.......................................... 23
2.3
Machining features......................................... 34
2.4
Technique for creating 3D drawing for WEDM................36
2.5
Conclusion.......................
IV
53
CHAPTER
3
TRANSFERRING AND
E X T R A C T I N G ........................... 54
3.1 Introduction................................................ 55
3.2 IGES Transferring...........................................56
3.3 DXF Transferring............................................ 59
3.4 Comparison.................................................. 62
3.5 DXF Interface Program...................................... 63
3.6 Examples.................................................... 72
3.7 Conclusion.................................................. 83
CHAPTER 4
THE MOTION C O N T R O L ......
91
4.1 An overview of the control program......................... 92
4.1.1 The hardware for the motion control.................. 92
4.1.2 The software for the motion control................. 102
4.2 Transformation of coordinates............................. 104
4.3 Features of the control program........................... 112
4 .4 Test procedure............................................. 115
4.5
Conclusion................................................ 120
CHAPTER 5
RESULTS AND D I S C U S S I O N ...............................122
5.1
Introduction.............................
5.2
Results .................................................. 136
5.3
Discussion................................................ 139
V
123
5.3.1 Overview............................................ 139
5.3.2 Data exchange between CAD/CAM...................... 139
5.3.3 From graphic file to no-graphic file..... ........ 142
5.3.4 Use of ruled surface .............................. 142
5.3.5 The factors affecting the machining accuracy....... 144
CHAPTER 6 CONCLUSION AND SUGGESTION FOR FUTURE WORK..........................148
6.1
Conclusion............................................... 149
6.2
Suggestion................................................151
REFERENCE ............
153
APPENDIX 1. A DXF FILE from
a 3D graphic drawing file, Fig.2.8
or 2.13........ AI
APPENDIX 2. An general control program.... ...................... A2
VI
Chapter 1
INTRODUCTION
1.1 Background of this project
1.2 Wire Electric Discharge Machining (WEDM)
1.3 Integration of CAD and CAM
1.3.1 Computer Aided Design
1.3.2 Computer Aided Manufacturing
1.3.3 Integration of CAD and CAM
1.4 Plan and Aim of the present work
CHAPTER 1
INTRODUCTION
1.1 Background of this project
In a study prior to the present research project,
manipulator had been designed,
interfaced
workpiece
with
in
manufactured,
a micro-computer
such
a
way
that
for
the
a robotic
commissioned and
manipulation
3-dimensional
complex
of
a
shaped
surfaces may be produced using a wire EDM machine in which the
cutting forces are relatively negligible[1].
The manipulator is operated by four AC servo motors, two of them
are for the linear manipulation along the X and Y axes and the
other two motors are used for the manipulation of the rotary
motions, alpha and beta around the X and Y axes respectively. The
maximum X and Y axes linear travel for the manipulator is 100 mm
and 120 mm respectively,
alpha
and beta
is
and the angular cutting facility for
7 0 degree and
65 degree respectively.
For
carrying out the test on the model material (polystyrene, up to
50 mm thick workpiece ) and for simulating WEDM process
cutting unit had also been designed,
a wire
and commissioned on which
the cutting wire and a micro-switch is housed.
The interfacing system used for this manipulator was two PC23
indexers
motors
and
and
four KS-drives.
the
other
One PC2 3 indexer controls three
controls
the
fourth
motor.
There
are
approximately 80 PC23 commands which can be used for setting the
INTRODUCTION
CHAPTER 1
process
operating
approximately
modes
40
and
KS-drive
motion
commands
parameters.
for
There
setting
the
are
servo
conditions on the KS-drive for system optimisation and to match
the operating conditions described for the PC2 3 indexer
[3 0-
32 ] .
A programmable voltage regulator
voltage
(PVR)
is used to change the
in the cutting wire through the micro-computer
based
software during the generation of the shape.The micro-switch on
the cutting wire unit connected with the PC2 3 indexer is to check
if the wire cutting rate is less than the workpiece feedrate so
that a signal can be sent to the computer
for retracing the
workpiece cutting path.
Programs had been developed
geometrical
shapes
models
described
by
in BASIC to describe a number of
separately
(totally
8 programs
) , the
12 kinds
corresponding
programmes also had been developed separately.
2
of different
control
CONTROL UNIT
SERVO DRIVERS
(PC)
MECHANICAL SYSTEM
POWER SUPPLY
AC BRUSHLESS MOTORS
VOLTAGE REGULATOR
FIGURE 1 . 1
THE GENERAL LAYOUT OF THE EQUIPMENT
CUTTING WIRE
INTRTODUCTION
ET
SP@S
O
$
~!o
o
- _ rI -
Y-axis
t
\
i
erta
o
n-1—
0) M
(0
o
o
S
Pitch
(alpha)
M
FIGURE
1. 3
Shows a p l a n v i e w o f t h e r o b o t i c m a n i p u l a t o r ,
wh'lch
represents four
degrees of
freedomn,
two
t r a n s l a t i o n ( T1
and
T2) and
two r o t a r y
m o t i o n s (R1 a n d R 2 ) T
WIRE
CUTTING
FIGURE
1. 4
Shows a f u l l
interfacing
system diagram.
INTRODUCTION
CHAPTER 1
2.2 Wire Electric Discharge Machining (WEDM)
In the Wire Electric Discharge Machining (WEDM) process metal is
eroded away by electric discharges between the workpiece and a
thin wire electrode, with no tool workpiece contact and without
the application of mechanical forces[2], The wire electrode runs
through the workpiece like band saw blade,
except the wire is
used only once[3,4], and is surrounded by a stream of usually de
ionised water which serves as a conductor for the current as well
as
a coolant
and
a means
particles[5].
The
wire
compensate
is
the diminution
of
removing
continuously
in the wire
the
machined metallic
renewed
diameter
in
order
by the
to
spark
erosion process[6]. The cutting wire is capable of cutting pre
hardened steel to finished die dimensions[7]. Figure 1.2 shows a
schematic
diagram
of
the
equipment
for
electro
discharge
machining using a moving wire electrode.
In the WEDM process a wire having a diameter of between 0.03 and
0.3 mm is normally used, with 12 intermediate diameters[2]. EDM
eliminates most of the hard tooling that would be required for
conventional machining, therefore, it has low tooling costs. The
wire
erosion process
provides
an
important advantage
in that
punches, dies,and strippers can be cut from hardened steel blanks
in single block and operation[8,9].
INTRODUCTION
CHAPTER 1
In WEDM, the distance from the wire to the workpiece is usually
around 0.025 mm.
In this tiny space, metal is being eroded by
rather violent but extremely localized and momentary action[3].
The criteria for quality are the surface roughness and tolerance.
Shape accuracy in WEDM in a working environment, with temperature
variations of about 3 degrees Celsius,
meters [10] .
8
can be about 4 micro
COPPER
OR TUNGSTEN WIRE
TOP VIEW
MOVING
WIRE
ELECTRODE
PROGRAMMED
OR NC
SPARK \ WORKPIECE MOTION
GAP
NOZZLES FOR
DIELECTRIC
(DEIONIZED
WATER)
FIGURE 1 . 5
A s ch e m a tic diagram o f E l e c t r o - D i s c h a r g e Machining
(EDM) u s i n g
t h e moving w i r e e l e c t r o d e t
CHAPTER 1
INTRODUCTION
1.3 Integration of CAD and CAM
1.3.1 Computer Aided Design
Computer aided design involves any type of design activity which
makes use of the
computer to develop,
engineering design.
analyze,
or modify
an
The evolution of computer-aided design has
been largely related to the developments in computer graphics.
Of course,
However,
CAD encompasses much more than computer graphics.
interactive
computer
graphics
forms
the
essential
technological foundation for computer aided design[ll].
CAD
systems
are
based
on
interactive
computer
Modern
graphics.
Interactive computer graphics denotes a user-oriented system in
which the computer is employed to create, transform, and display
data
in the
form
of pictures
or
symbols.
The
user
in
the
computer graphics design system is the designer, who communicates
data and commands to the computer through any of several input
devices.
The computer communicates with the user via a cathode
ray tube (CRT).
The designer creates an image on the CRT screen
by entering commands
stored
in
the
constructed
circles,
and
computer.
out
so
to call the desired software subroutines
of
In
basic
on.
It
most
geometric
can
be
systems,
the
image
elements-points,
modified
according
is
lines,
to
the
commands of the designer -- enlarged, reduced in size, moved to
another
location
on
the
screen,
10
rotated,
and
other
INTRODUCTION
CHAPTER 1
transformations.
Through
these
various
manipulations,
the
required details of the image are formulated.
The typical
hardware
computer aided design system is a combination of
and
software.
The
hardware
includes
a
central
processing unit, one or more workstations (including the graphics
display terminals), and peripheral
plotters, and drafting equipment.
devices
such
as printers,
The software consists of the
computer programs needed to implement graphics processing on the
system.
The software
would also typically include additional
specialized application programs to accomplish the particular
engineering function required by the user company[11].
It is important to note the fact that the interactive computer
graphics is
one component of a computer-aided design system and
the other major component is the human designer.
computer graphics
design
problem
Interactive
is a tool used by the designer to solve a
which
in
effect,
magnifies
the
power
of
the
designer.
There
are
several
fundamental
reasons
for
implementing
a
computer-aided design system:
1.
To
increase
the
productivity
of
the
designer:
This
is
accomplished by helping the designer to visualize the product and
INTRODUCTION
CHAPTER 1
its component sub-assemblies and parts; and by reducing the time
required in synthesizing, analyzing, and documenting the design.
This productivity
improvement translates not only into
lower
design cost but also into shorter project completion times.
2. To improve the quality of design:
thorough
engineering
analysis
and
alternatives can be investigated.
through
the greater
A CAD system permits a more
a
larger
number
of
design
Design errors are also reduced
accuracy provided
by the
system.
These
factors lead to a better design.
3.
To
better
improve communications:
engineering
drawings,
better
Use
drawings,
of
more
documentation
of
a CAD
system provides
standardization
the
design,
fewer
in
the
drawing
errors, and greater legibility.
4. To create a data base for manufacturing:
In the process of
creating the documentation for the product design (geometries and
dimensions
of
the
product
and
its
components,
material
specifications for components, bill of materials, etc.), much of
the
required
data
base
to
manufacture
created.
12
the
product
is
also
INTRODUCTION
CHAPTER 1
1.3.2 Computer Aided Manufacturing
The most readily understood form of CAM is the stand-alone CNC
(Computer Numerical Control ) machine tool, closely followed by
DNC
( Direct Numerical Control ) operation.
CAM , however, should be understood in
The definition of
a wider context.
Non
metal-cutting production processes (welding, presswork, etc.) and
related activities such as Computer Aided NC Part Programming,
Computer
Aided
together
with
Inspection,
automated
testing
and
materials
assembly
techniques,
handling,
should
be
included[12].
Historically, numerical control in engineering is the beginning
of CAM[13],
It is NC development that makes it possible for the
computer to be involved in the manufacturing process.
technique for a NC machine used in production was
for a set of
instructions, a part program, to be written in one of
of
specialized
program
languages
was then fed
which 'read'
developed
for
the
The basic
a
number
purpose.
The
into the control unit of a NC machine
it, section by section, and
moved a cutting tool
accordingly.
However,
without
usefulness
of
a
CAM
bridge
or
NC
linking
in
CAD
practical
limited[13].
13
to
CAM,
or
engineering
NC,
was
the
very
INTRODUCTION
CHAPTER 1
1.3.3
Integration of CAD and CAM
Engineering
design
technology
and
has
been
tools
influenced
available
to
heavily
by
designers.
the
CAD
Similarly,
manufacturing has undergone major changes with the introduction
of
numerically
controlled
(CNC)
controlled
machine
(NC)
and
tools.
computer
numerically
replace
conventional
These
machines, thus offering increased flexibility, superior accuracy,
and shorter production cycles. Machining of complex surfaces with
conventional machining is neither economical nor accurate.
These
surfaces are found in a wide range of components including those
for
aircrafts,
equipment,
automobiles
construction
machine tools themselves,
and
agricultural
appliances and instrument
cases.
In the conventional manufacturing cycle practised for so many
years in industry, engineering drawings were prepared by design
draughtsmen and then used by
the
process
involved
in
plan
(i.e.
designing
the
the
manufacturing engineers to develop
route
product
sheets).
were
The
activities
separated
from
the
activities associated with process planning. Essentially, a twostep procedure was employed.
involved
personnel.
duplication
In
an
of
This was both time consuming and
effort
integrated
14
by
design
CAD/CAM
and
manufacturing
system,
a
link
is
CHAPTER
INTRODUCTION
1
established between product design and manufacturing.
The
potential
manufacturing
benefits
are
well
of
integrating
recognized.
More
engineering
and
specifically,
full
integration of CAD and CAM is an important aspect of factory
automation
or
computer
integrated
manufacturing
system
(CIMS)[14].
Historically, CAD/CAM Integration began with
the NC technology.
the development of
NC machine tools have been improving steadily
in both areas of hardware control and software developments.
part
programming
and
interactive
computer
contributed heavily to these developments.
CAD/CAM
graphics
NC
have
The integration of
places increasing emphasis on tools and paths for NC
machines.
It
is
interesting
to
note
how
independent
developments
(CAD and CAM ) which began at completely opposite
ends of the CAD/CAM spectrum during the evolution of
CAD/CAM
systems have gradually approached each other.
A large volume of work has been done
in the area of CAD/CAM
integration during the last twenty years.
similar
in
their
integrating
them
facilities
with
other
but
the
systems
Most CAD systems are
differences
such
as
CAM.
appear
when
The main
efforts have been concentrated on computer aided manufacturing
and the different ways
of making use of the CAD
in order to
simulate the manufacturing processes and to develop the suitable
15
INTRODUCTION
CHAPTER 1
code to control the machines.
For example,
an integrated system called KNOTS
[15]
has been
developed for generating optimized numerical control commands
to
instruct NC machine system to produce complex splining geometry.
SPAM
[16]
is
a
software
Ingegnria Meccanica
of
package
Firenze
standard microcomputers.
It
developed
University
is devoted
at
Instituto
di
for application
on
to provide
a set of
facilities for NC machine tools.
Pauli Gitto [17] discussed interfacing Direct Numerical control
(DNC)
with CAD/CAM system.
developed
to
convert
the
In
[18]
a postprocessor has been
Automatic
language into G-Code language.
programming
Tool
(APT)
This software might be used with
other graphic packages to develop an integrated CAD/CAM system.
Similar
packages
progress
with
has
been
manufacturing
done
in
packages
integrating
[19
-
23].
the
So
graphic
it
was
possible, for example, to produce the tool path of CNC machines
using CAD facilities and save them in the CAD database to be used
later by postprocessors to produce the G-Code for a particular
CNC
machine.
Evendale,
The
General
Electric
Ohio DNC system services
system is only
Aircraft
Engine
100 NC machines.
Group's
The DNC
one step in their total CAM project [24].
16
CHAPTER 1
INTRODUCTION
The application of mini-computers to a numerical control system
to perform numerical control, servo control and adaptive control
for metal cutting process also has been studied [26]. CN3D-LURPA
is a machining software for forging dies, from a part definition
drawing, it is possible to machine by aided programming a 3D part
with complex topology [27].
FIGURE 1.6 shows how the CAD/CAM data base is related to design
and manufacturing in
a typical production-oriented company.
17
CAD
CAM
Geometric
modeling
Tool and
fixture
design
Engineering
analysis
Numerical
control
programming
»nierociivc
graphics
f ig u r e
Data
base
i .6
Production
Design
review and
evaluation
Computer-aided
process
planning
Automated
drafting
Production
planning
and
scheduling
Desirable relationship of CAD/CAM data base to CAD and CAM.
INTRODUCTION
CHAPTER 1
4 Plan and Aim of the present work
The title of this present research project is "Integration of CAD
and CAM for Manufacturing of Complex Shaped Components Using a
Robotic Manipulator".
related research,
the
Based on the background
following tasks
are put
of previous
forward to be
solved:
1.
To create
machining,
a 3D model drawing
for wire
both efficiently and accurately,
electric discharge
with the help of
AUTOCAD Rll instead of BASIC.
2. To make
created
sure that the graphic files
of 3D model drawings
can be easily transferred and processed later by other
software automatically towards the direction of integrating CAD
with CAM.
3. To build up a bridge between CAD and CAM,
between a drawing file in AUTOCAD and
the manipulator control system,
that is to say,
the control programme for
which is a key problem in the
integration of CAD and CAM.
4.To develop a universal control programme which is suitable for
the machining of any kind of complex shaped model in WEDM.
19
INTRODUCTION
CHAPTER 1
5.
To
improve
the
WEDM
machining
accuracy
by
means
of
the
integration of CAD and CAM.
THE OBJECTIVES OF THE PRESENT PROJECT ARE:
1. To find a way to create 3D model drawings for WEDM towards the
direction of integration of CAD and CAM.
2. To build up a bridge between CAD and CAM - to transfer a
graphic drawing file in AUTOCAD to
a non-graphic file and create
a standard database by extracting related information from the
non-graphic drawing file.
3. To develop a universal control program which is suitable for
the machining of any kind of complex shaped model in WEDM.
4. To find a way to improve the WEDM machining accuracy by means
of the integration of CAD and CAM.
5. To simulate WEDM tests using model materials and the above
machining facility.
20
Chapter 2
TECHNIQUE FOR CREATING 3D DRAWINGS
2.1 Introduction for 3D-CAD for WEDM
2.2 Geometry Features
2.3 Machining Features
2.4 Technique for creating 3D drawing for WEDM
2.5 Conclusion
TECHNIQUE FOR CREATING 3D DRAWING
CHAPTER 2
2.1 Introduction for 3D-CAD for WED
3D-CAD here
refers to the use of AutoCAD to create three-
dimensional
drawings mainly for WEDM.
AutoCAD
is a general
purpose Computer Aided Design (CAD) program which one can use
to prepare a variety of two-dimensional drawing and threedimensional models.
3D-CAD
of
significant
complex
part
shaped
in
components
the
for
integration
WEDM
of
manufacturing of complex shaped components.
dies,
such as extrusion dies
is
a
very
CAD/CAM
for
Some very useful
for producing unusual gears
,
section metal materials or plastic parts of complex shapes,
could be created more easily and accurately based on the 30CAD.
This is not only because using AutoCAD to create three-
dimensional
drawings
is
faster
and
more
accurate
than
traditional methods of creating 3D drawings but also because
an AutoCAD drawing file is a database containing the precise
locations,
sizes and attributes of the objects
extracted and analyzed to generate
which can be
numerical control data for
production applications[29]. Moreover,
the 3D-CAD of complex
shaped components for WEDM is also the basic problem to solve
in following integrated CAD-CAM in WEDM.
Considerable research on 3D-CAD of complex shaped components
have been done
using AutoCAD Release 11 [28].
This has been
installed and configured on a workstation to integrate CAD and
CHAPTER 2
CAM for the WEDM process.
The features and principles of 30-
CAD of complex shaped components for WEDM are described in the
following sections.
2.2 Geometry features
The geometries
of
3D complex shaped components
Electric Discharge Machining have some common
for
Wire
features which
must be known before creating a proper 3D drawing for WEDM.
Firstly, the top surface and the bottom surface of a complex
shaped component for WEDM must be flat and parallel with each
other.
Secondly,
the profile
on the top
surface or on the
bottom surface of the component must be taken from only one
closed line,
otherwise,
it is impossible to realise that 3D
drawing in reality for WEDM.
Figures 2.1-2.6 show different profile lines on the surfaces
of some components. The profile lines on the bottom surfaces
in Figs.2.5 and 2.6 are not valid since these are not formed
from one closed line. Though the profile lines in Figs.2.1-2.4
look complex,
they are valid.
they consist of only one closed line,
as such
Corresponding 3D drawing of the Figs.2.1, 2.2
and 2.4 can be seen in Figs.2.7, 2.8 and 2.19 respectively.
2 3
CHAPTER
TECHNIQUE
2
Fig.
2.1
Fig.
A 3D m o d e l ' s p l a n v i e w
Fig.
FOR CREATING
3D D R AWING
2.2
2.3
Fig.
2.4
24
CHAPTER
TECHNIQUE FOR CREATING
2
Fig. 2.5
3D D R A W I N G
Fig. 2.6
A 3D model's plan view
A 3D model's plan view
Thirdly, the distance between the top surface and the bottom
surface is limited in a component for manufacturing reasons.
In the case of our research , the maximum thickness of any
complex shaped component to be drawn in 3D for WEDM is set to
50 mm.
Finally,
when designing an extrusion die,
paid so that
x-y
attention must be
an area of any section of a 3D model parallel to
plane must be larger
(or smaller) than or equal to the
area of any other corresponding sections above (or below) it.
In other words, if the model drawing were
25
TECHNIQUE
CHAPTER 2
Fig. 2.7
FOR CREATING
3D D R A W I N G
A complex shaped 3D model drawing.
26
CHAPTER 2
cut in two
along z axis in any direction,
obtained should only look like a trapezoid.
the section profile
The principle used
to ensure this is to prevent the splines of the model from
crossing each other in any situation.
Otherwise the die drawn would be of no practical use as an
extrusion die, but it could be drawn and generated as an object
of art.
See the solidified picture
Fig. 2.7 .
Because the
area of one middle section is smaller than that of the top
section and
also smaller than that of the bottom section, this
model cavity can not be used as
an extrusion die.
Even for the same sizes and profiles on the top and bottom
surfaces of two model,
different arrangements of the splines
may bring about different results.
For example, the models in Figs. 2.8,
2.12 and 2.13
can be
taken as extrusion die models, but the models in Figs. 2.9 and
2.10
can only be taken as a pure model because of the crossing
splines at points A and B.
27
CHAPTER 2
F ig .
2 .8
2 8
CHAPTER 2
F ig .
2 .9
29
CHAPTER 2
F ig .
2 .1 0
3 0
CHAPTER 2
31
CHAPTER 2
F i g . 2.12
32
CHAPTER 2
F ig .
2 .1 3
33
CHAPTER 2
2.3 Machining features
Wire
Electric Discharge Machining
itself has
some
features
which must be also understood before creating a 3D drawing for
WEDM.
Because the purpose of this project is to
integrate
CAD-CAM for generating desired complex shaped 3D model dies in
WEDM,
it is better to combine the machining features while
creating the 3D drawings for WEDM.
3D die cavities or models are generated by two concurrent steps
in
WEDM.
Firstly,
the
generation
of
the
bottom
shape
is
obtained by manipulating the workpiece in x and y directions.
Secondly,
the generation of the top surface is obtained by
rotating the workpiece around the
x and y axes to align the
cutting wire with the corresponding splines between the top and
bottom surfaces according to the corresponding angles alpha and
beta.
The process is then repeated to cover all the splines in order
to generate the whole 3D shape in the model material.
The trace passed by the cutting wire of WEDM is just like the
surface mesh drawn to form the 3D die cavities or models in
creating
the
drawing
which
is
a
very
important
machining
feature of WEDM.
Therefore,
it can be
imagined that the
34
ruled
surface mesh
CHAPTER 2
generated
by
AutoCAD
to
form
the
3D
model
drawing
imitation of the trace of the cutting wire in WEDM.
way
is
an
In this
the arrangement of the directions and the numbers of the
3D model splines as the trace of the straight cutting wire
could conveniently be determined and set as desired during the
process of creating the 3D drawing's ruled surface mesh.
The machining accuracy of the 3D model obtained depends on the
distance between two splines next to each other.
The smaller
the distance,
a machining
the better
is the accuracy.
As
feature, each part of the shaped profile on the end faces of
the 3D model
splines.
is divided equally by the same number of the
However the distances between these same two splines
at the top and bottom surfaces may be different due to the
different shape profiles on each end face of the model.
The principle of determining the required number of the splines
in order to get the desired accuracy model should be based on
the accuracy requirement of an outlet of the model die or an
outlet shape profile of the model, not that of an intake.
This
is another important aspect to take into account when creating
any 3D model drawing for WEDM.
35
See Figs. 2.11 to 2.13.
CHAPTER 2
2.4 Technique for creating 3D drawing for WEDM
When creating any 3D shape drawing for the purpose of
integration of CAD/CAM for WEDM
the following steps need to
be taken.
1st
step:
Set
up
corresponding origin,
a
3D
coordinate
see Fig. 2.15.
needs to be kept in mind is to set
that of the WORLD COORDINATES SYSTEM
system
and
a
new
A principal rule that
the origin
the same as
by first initialising
LIMITS, then choosing ZOOM ALL from the menu bar in AUTOCAD.
During this process
to be referred to
2nd step:
may often
USER'S COORDINATES SYSTEM
need
during the creation of the drawing.
Choose SETTING from menu bar, then choose P LAN VIEW
from its pull-down menu in order to create a profile on one of
the model ends easily.
3rd step:
Choose SETTING from menu bar,
then choose LAYER
CONTROL to pick a colour and a type of the line you like.
4th step:
Create 2D drawing on the plan view.
bottom surface, choose DRAW from menu bar.
Say, it is the
Almost any thing
can be selected and drawn using the functions provided in its
pull down menu.
The arc's function and a group of coordinates
can very easily be used to create a complex bottom shape same
as in Fig.2.9 or Fig.2.11.
See Table 2.4.1 for the group of
coordinates.
3 6
CHAPTER 2
5th step:
Moving the UCS icon to top surface.
Any shape can
be drawn according to the geometry features for WEDM.
a diameter and a centre,
you can
face using circle function.
6th step:
Given
create a circle on the top
See Fig. 2.11.
Divide the profile lines at both the top and bottom
end faces into two or more parts, then use the RULED SURFACE
function to mesh them into solid model.
But before that,
it
must first be established that the profile line is divided in
such a way
that the splines of the mesh do not cross each
other in any situation.
Secondly, the step distance between
two splines next to each other must be determined
to the machining accuracy required.
according
In other words,
number of splines of each parts must be determined first.
length of its profile segment can be measured with AUTOCAD
the
The
to
decide how many splines it needs according to the step distance
required with the function SURFTABLE 1.
37
See
Figs. 2.8-2.12.
CHAPTER 2
7th step:
Choose RULESURF from pull-down menu to form the
Choose DISPLAY
surface meshes of the 3D drawing one by one.
from menu bar, then VPONIT 3D to
check the model
created,
improve it then save it and that is all.
8th step:
Rll.
Objects can be made larger or smaller in AUTO CAD
The
dimensions,
same
scale
factor
is
applied
to X
, Y
and
Z
so SCALE cannot turn circles into ellipses. This
is the prompt sequence:
Command: SCALE
Select objects: Do so.
Base point: Point.
Scale factor:
If one responds to the last prompt with a number, this is taken
as a relative scale
factor by which
selected objects are to be multiplied.
enter a scale factor greater than 1.
a scale factor between 0 and 1.
all dimensions
of the
To enlarge an object,
To shrink an object , use
In this case
the base point
is suggested to be selected as the origin of the coordinates
system.
When creating a drawing,
2 must be observed.
the principles mentioned in chapter
It is advisable to put the top surface,
bottom surface, side's mesh and coordinates system on different
layers in order to easily separate and process them for the
purpose of integration of CAD-CAM.
38
CHAPTER 2
Fig. 2 . 1 5
A 3D coordinate system.
39
CHAPTER 2
TABLE 2.4.1
Xs
20.00
Ys
0
Xe
Ym
Xm
6.78
17 .06
Ye
12 .84
10. 92
12 .84
10 .92
8 .16
13 .2
4 .52
13 .92
4 .52
13 .92
1.48
13 .58
-0. 62
11. 58
-0 .62
11. 58
-0 .54
8 .54
0
7 .66
0
7 .66
5 .56
6. 68
0.56
5. 00
0 .56
5 .00
-0 .86
3 .32
-1.4
3. 12
-1. 4
3 .12
-3 .32
3 .608
-4 .52
4. 174
-4 .52
4 .174
-8.646
7 .006
10. 3
-10. 8
9.56
-16 .0
9.738
-20.0
0 .0
-10 .8
9 .56
-13 .92
-16 .0
9 .738
-19.56
4 .33
-20. 0
0 .0
-18.52
-8.30
-17.96
-9.36
-16.62
-11.4
-15 .0
-13.21
-15 .0
-13 .21
-12.844
-15.264
-10.44
-16.00
-10.44
-16.00
-7 .62
-12.52
-6 .66
-8.968
-6.956
-6.608
-5.00
-5 .00
-1.392
-6.26
-8 .28
0.68
-9.738
-6.956
-6.956
-6.608
-1.392
-6 .26
-14.56
0
40
-17.96
-6.956
-9.36
-12.52
CHAPTER 2
Xs
0 .68
Ys
-9.738
Xm
Ym
Xe
Ye
4 .92
-13.26
8.348
-14.608
- 1 3 .96
16.696
-11.478
8 .348
-14.608
13.876
16 .696
-11. 478
19 .52
-4.82
20.0
0.0
For general purpose drawing skill, see Auto CAD manual.
The following
are some 3D drawing examples for WEDM to show
how to create them and also to show some features they have.
Among them:
Fig.2.16
The 3D model drawing consists of a square shape on the top and
a circle shape on the bottom.
It's side surface is formed by
a ruled surface mesh which also is an imitation of the trace
of the cutting wire in WEDM.
Fig.2.8 to Fig.2.13
These figures show clearly the process to create a complicated
3D drawing of a component having a complex shape on bottom and
a square shape on top, which is to be produced using a WEDM
process.
41
CHAPTER 2
Fig. 2.17
The bottom shape is complex while the top shape is a square.
Fig. 2.7.
This is a typical 3D model which can only be taken as a drawing
model but not an extrusion die model, because the mesh splines
cross each other at some points.
Fig. 2.18
The bottom shape is a circle while the top is a
2 shape.
Fig.2.19
The bottom shape is a crescent while the top is a circle.
Fig.2.20 to 2.22
This is an
Arc gear extrusion die showing how to create it.
Fig. 2.23 and Fig. 2.24
This is a non-circular pitch gear extrusion die with
non-evolute teeth showing how to create it.
These 3D drawings of extrusion die might be very valuable in
practical production because it may be a wholly new way to
produce
gears with different tooth shapes or non-circular
pitches.
42
CHAPTER
2
TECHNIQUE
FIG.
2.16
43
FOR CREATING
3D D R A W I N G
CHAPTER
2
TECHNIQUE
FIG.
2.17
44
FOR
CREATING
3D D R A W I N G
TECHNIQUE
CHAPTER 2
FIG.
2 .18
45
FOR
CREATING
3D D R A W I N G
TECHNIQUE
CHAPTER
2
Y
FIG.
2.19
46
FOR CREATING
3D D R A W I N G
CHAPTER
2
TECHNIQUE
47
FOR CREATING
3D D R A W I N G
CHAPTER
2
TECHNIQUE
FIG.
2.21
48
FOR CREATING
3D D R A W I N G
CHAPTER
T E C H N I Q U E FOR C R E A T I N G
2
FIG.
2.22
49
3D D R A W I N G
CHAPTER
TECHNIQUE
2
FIG.
2.23
50
FOR CREAT I N G
3D D R A W I N G
CHAPTER
TECHNIQUE
2
FIG.
2.24
51
FOR C R E A T I N G
3D D R A W I N G
CHAPTER
TECHNIQUE
2
FOR CREATING
3D D R A W I N G
2 .5 conclusion
Not all drawings created using AutoCAD benefit the integration
of CAD-CAM for WEDM.
Only the 3D model drawing files for WEDM
created in the way mentioned in this chapter
could be useful
in the future towards the integration of CAD-CAM, because it
ensures
that
those
drawing
transferred and processed
files
created
could be
easily
no matter how complicated they are.
(1) The ruled surface mesh can be taken as the imitation of the
trace of WEDM ,
(2) the machining accuracy of WEDM could be
improved by choosing proper step length
two
splines
next
to
each
other
on
or
the
distance between
drawing,
(3) the
principle of arranging the spline meshes in 3D drawing for WEDM
has been described
dimensional
and (4) the special procedure to create 3
drawing for subsequent process for integration of
CAD/CAM has also been summarized here.
These are all the new
results of this research.
The
creation
of
3D
drawing
and
their
linking
integrated CAD-CAM is the feature of this thesis.
52
with
the
Chapter 3
TRANSFERRING AND EXTRACTING
3.1 Introduction
3.2 IGES Transferring
3.3 DXF Transferring
3.4 Comparison
3.5 DXF Interface Programme
3.6 Examples
3.7 Conclusion
TRANSFERRING AND
CHAPTER 3
EXTRACTING
3.1 Introduction
The research project presented here is about the integration of
CAD/CAM for manufacturing of complex shaped components using a
robotic manipulator.
AUTOCAD,
it
must
So after a 3D drawing is completed using
be
possible
for
it
to
be
extracted
and
transferred to other software systems for further analysis and
processing
in
a
subsequent
stage
of
an
integrated
CAD-CAM
system.
However, this kind of drawing file is a graphic file stored in a
form which is very difficult to interpret or alter later.
There
are
two
steps
to
solve this problem,
firstly,
AUTOCAD
itself provides two ways to transfer graphic drawing files to
non-graphic file using either DXF or IGES form in ASCII text
format.
This
is
problem because
a very
important
it can be read
step
later,
towards
but
solving
is not
the
sufficient
enough.
The drawing file created in DXF or IGES form is comprehensive,
for example,
in DXF.file even a blank drawing contains a large
amount of data about everything contained within the prototype
drawing.
fearsomely
As
a result,
complicated
the DXF.file
and
difficult
54
or IGES.file
to
be
used
can appear
by
other
CHAPTER
TRANSFERRING AND
3
EXTRACTING
software.
The second step is to decide how best to extract selected data
from
a DXF.file
or
IGES.file
database which acts as
This is a
in
a bridge
order
to
create
a
standard
that connects CAD with CAM.
key task of this project.
A extracting programme, which is an interface programme, has been
developed successfully as will be shown in this chapter.
3.2 IGES Transferring
IGES means Initial Graphics Exchange Specification which is a
public domain data specification intended as an international
standard for the exchange of information between computer aided
design systems.
It is relatively easy to instruct AUTOCAD to transfer a drawing
graphic file to a IGES format file.
By means of the drawing
editor's IGESOUT command, one can transfer a graphic file such as
in Fig. 3.1
which is a simplified
drawing example in order to
explain how to transfer a graphic file in AUTOCAD to non-graphic
IGES file and to demonstrate what a IGES format file looks like.
55
CHAPTER 3
The AUTOCAD
TRANSFERRING AND
system transfers the whole
contents
EXTRACTING
to the non
graphic file once the command "igesout" is chosen in AUTOCAD RII
irrespective of whether the whole contents in a drawing file or
only part of the ENTITIES in the drawing file is of interest.
56
CHAPTER
'
1
TRANSFERRING AND
3
EXTRACTING
I G E S f i l e g e n e r a t e d f r o n an A u to C A D d r a w i n g b y t h e I G E S
sooooo
t r a n s l a t o r from Autodesk,
In c.,
tra n s la to r versio n IGESOUT-3.04
sooooo
, , 4 H C P T 1 , 8 H C P T 3 . I G S , 1 5 H A u t o C A D - R l l i c 2 , 1 2 H I G E S O U T - 3 . 0 4 , 3 2 , 3 8 , 6 , 9 9 , 1 5 , 4HCGOOOOO
P T 1 , 1 . 0 , 1 , 4 H Ï N C H , 3 2 7 6 7 , 3 . 2 7 6 7 D 1 , 1 3 H 9 4 02 23 . 1 2 4 9 4 6 , 2 . 5 5 D - 7 , 2 5 5 . 0 , 9 H F a e k d i G O O O O O
k o , 10H D C U - M e c h . , 6 , 0 ;
GOOOOO
110
1
1
1
OOOOOOOODOOOOO
110
1
DOOOOO
110
2
1
1
OOOOOOOODOOOOO
110
1
DOOOOO
110
3
1
1
OOOOOOOODOOOOO
110
1
DOOOOO
110
4
1
1
OOOOOOOODOOOOO
110
1
DOOOOO
110
5
1
1
OOOOOOOODOOOOO
110
1
DOOOOO
110
6
1
1
OOOOOOOODOOOOO
110
1
DOOOOO
100
7
1
1
0
OOOOOOOODOOOOO
100
1
DOOOOO
124
8
1
OOOOOOOODOOOOO
124
1
0
DOOOOO
110
9
1
1
OOOIOOOODOOOOO
110
1
DOOOOO
110
10
1
1
OOOIOOOODOOOOO
110
1
DOOOOO
110
11
1
1
OOOIOOOODOOOOO
110
1
DOOOOO
102
12
1
1
0
OOOOOOOIDOOOOO
102
1
DOOOOO
404
13
1
OOOOOOOODOOOOO
404
1
DOOOOO
1 1 0 , 14 0 . 0 , 1 5 5 . 0 , 0 . 0 , 1 7 5 . 0 , 1 5 5 . 0 , 0 . 0 ;
1P00000
110,185.0,155.0,0.0,195.0,155.0,0.0 ;
3POOOOO
110,205.0,155.0,0.0,255.0,155.0,0.0 ;
5POOOOO
110,190.0,205.0,0.0,190.0,150.0,0.0 ;
7POOOOO
110,190.0,14 5 .0 ,0 .0 ,1 9 0 .0 ,1 3 5 .0 ,0 .0 ;
9POOOOO
110,190.0,130.0,0.0,190.0,100.0,0.0;
11POOOOO
100,0.0,190.0,155.0,210.0,155.0,210. 0,155.0;
13POOOOO
1 2 4 ,1 .0 ,0 .0 ,0 .0 ,0 .0 ,0 .0 ,-1 .0 ,0 .0 ,0 . 0 ,0 .0 ,0 .0 ,-1 .0 ,0 .0 ;
15POOOOO
1 1 0,1.3803847577293D2,1 8 5 .0 ,0 .0 ,1 9 0 .0 ,9 5 .0 ,0 .0 ;
17POOOOO
110,190.0,95.0,0.0,2.4196152422707D2,1.85D2,0.0;
19P00000
110,2 .4 19 615 242 2 7 0 7 D 2 ,1 . 8 5 0 2 , 0 . 0 , 1 . 3803847 57 72 9 3 D 2 , 1 8 5 . 0 , 0 . 0 ;
2 1POOOOO
102,3,17,19,21;
23POOOOO
404,0,0;
25P00000
S0000002G0000003D000002 6P0000013
TOOOOO
This is a IEGS file transferred from Fig. 3.1.
57
CHAPTER
TRANSFERRING AND
3
EXTRACTING
3 .3 DXF transferring
DXF is an abbreviation for Drawing Interchange File. In a similar
way as in IEGS transferring,
a DXF file can be made from the
current drawing by simply typing command "dxfout" or choosing it
from a menu bar,
extension.
the file will automatically be given a .DXF
Before transferring, a prompt will be displayed on
the screen like this:
"Enter decimal places of accuracy(0-16)/Entities/Binary"
This sets the number of decimal places of the coordinates of any
points specified in the file. If ENTITIES is selected, one would
be prompted to select the required entities from the drawing;
only those selected will be transferred to the DXF file.
The
BINARY option allows the extraction of the same data in the same
format but it is saved in binary not ASCII text format.
This
gives a more accurate and compact file but is much more difficult
to read and edit.
The following is a DXF. file example transferred from the same
drawing graphic file as Fig. 3.1 mentioned in section 3.2 IGES
transferring which is named as c:\acadll\dwgs\cpt3.dxf.
58
CHAPTER 3
TRANSFERRING AND
0
SECTION
2
ENTITIES
0
POLYLINE
8
0
66
1
10
0.0
20
0.0
30
0.0
70
1
0
VERTEX
8
0
10
138.04
20
185. 0
30
0.0
0
VERTEX
8
0
10
190.0
20
95. 0
30
0.0
0
VERTEX
8
0
10
241.96
20
185. 0
30
0.0
59
EXTRACTING
CHAPTER
TRANSFERRING AND
3
EXTRACTING
0
SEQEND
8
0
0
CIRCLE
8
0
10
190. 0
20
155. 0
30
0.0
40
20 . 0
0
ENDSEC
0
EOF
However
the
transferring,
following
firstly,
points
must
be
kept
Only 'ENTITIES' should
in
mind
before
be chosen from
the prompt.
Secondly,
the ruled surface mesh created should be picked up
only in a sequential way, otherwise the data file created could
be too difficult to analyze and process later for integrated CADCAM.
Choosing only the meshes to obtain a no-graphic file is the
important feature in this research.
Thirdly, decimal places of accuracy according to the requirement
of
machining
accuracy
must
be
entered
and
finally,
It
is
essential that all drawings exist in the WORLD COORDINATES SYSTEM
60
CHAPTER 3
rather than USER'S COORDINATES SYSTEM. Furthermore the origin of
the drawing coordinates system must be compatible with that of
the WORLD COORDINATES SYSTEM so that the data in DXF. file could
easily be processed in the future.
3.4 comparison
Both the IGES and DXF file format can be used to transfer a
graphic drawing file in AUTOCAD to a non-graphic file.
IGES files have some of the characteristics of AUTOCAD DXF. that
make
them
suitable
independence,
system
for
data
transfer,
independence
and
a
such
degree
as
of
device
version
independence .
Once
the command"IGESout" is chosen, it automatically transfers
the whole contents on the graphic drawing file to a IGES file.
IGES
has
no
transferring
direct
process
equivalent
has
some
to AUTOCAD
limitations
which
so
means
that
the
this
more
complex the drawing in AUTOCAD, the more likely that information
will have to be approximated resulting in some problems of data
loss to some degree.
For the AUTOCAD user, DXF avoids most problems of data loss and
with
DXF,
before
transferring,
one has
some
choice
such as
CHAPTER 3
"ACCURACY",
advantage
"ENTITIES"
over
the
and
"BINARY"
IGES.
Because
which
a
is really
complex
a
great
drawing
often
consists of a lot of contents or entities, the useful data which
are needed
in most cases
are
composed of only some related
Entities and not the whole contents of the 3D drawing.
So
in this
project
DXF was
adopted
to
transfer
the
graphic
drawing file to a non-graphic drawing file.
Now it can be seen that the data in the DXF. file is presented in
a rigid format and although it looks complicated it does provide
the possibility to process
it or extract data from it.
This
helps towards the aim of the project, the integration of CAD and
CAM for WEDM.
3.5 DXF Interface program
Writing a program that communicates with AUTOCAD via the DXF
mechanism to create a standard database often appears far more
difficult than it really is.
The DXF file contains a seemingly
overwhelming amount of information and on examining a DXF file
manually
it
may
lead
to
the
conclusion
that
the
task
is
enormous.
However, the DXF file had been designed to be easily processed by
62
CHAPTER 3
programming, but not manually.
The format was constructed with
the deliberate intention of making it easy to ignore information
not required
while
easily reading
the
information which
is
needed.
Some identifying codes used within the DXF file are given below:
Code
Function
o
The start of an entity
1
The primary text value for an entity
2
A name; attribute tag etc.
3-4
Other textual name values
5
Entity handles as hexadecimal strings
6
Line type name
7
Text style name
8
Layer name
9
Variable name identifier
10
Primary X coordinate
11-18
Other X coordinates
20
Primary y coordinate
21-28
Other y coordinates
30
Primary Z coordinate
31-37
Other Z coordinates
38
The entities elevation if non-zero
63
CHAPTER
TRANSFERRING AND
3
EXTRACTING
39
The entities thickness
ifnon-zero
40-48
Numeral floating point
49
Repeated value
50-58
Angles
62
Colour number
66
"Entities follow"flag
70-78
Integer values
210,220,230
X,Y and Z components of extrusion direction
99 9
Comments
1000
ASCII string up to 255 bytes
long
The following is a DXF interface program developed in BASIC to
create a standard database by extracting data from any DXF file
mentioned above.
' Filename: EXTRACTING.BAS
' Author:
Liu Ruishan
' Dublin City University
1 Extracting a Standard Database "3D-M0DEL.DAT" from 3D Model
Drawing Files
64
CHAPTER
TRANSFERRING AND
3
' This program is specially designed
database
from
INTERCHANGE
files
EXTRACTING
to extract
3D
model
drawing
in
a
FILES
(DXF)
so that a CNC machine
a standard
form
or
controlled manipulator in wire electric discharge
of
DRAWING
a computer
machining can
produce some complex shaped 3D model accurately and
efficiently
by reading these databases.
CLS
PRINT "TYPE [3D-M0DEL] for example for the following new
database file"
LINE INPUT "standard database file name:"; D$
OPEN "O", #2,
D$ + ".DAT"
CLOSE #2
DIM X B (250), Y B (250), ZB(250), XT(250), YT(250), ZT(250)
REM
REM EXTRACT VERTEX FROM DXF FILE
REM
Gl% = 0
PRINT "Type [C:\ACAD11\DWGS\LIU\ABS1] for example for
following prompt. " LINE INPUT "DXF FILE NAME: "; a$
OPEN "i", 1, a$ + ".dxf"
REM
REM Ignore until section start encountered
REM
65
CHAPTER
TRANSFERRING AND
3
EXTRACTING
PRINT "------------------------------------------------PRINT
"
SERIAL"; T A B (12); "XB"; TAB(20); "YB"; TAB(29); "ZB";
T A B (37); "XT"; TAB(45); "YT"; TAB(54); "ZT"
PRINT
"
NUMBER"; T A B (12); "MM"; T A B (20); "MM"; TA B (29);
"MM"; T A B (37); "MM"; TAB(45);
"M M ";
TAB(54);
"M M "
PRINT "-----------------------------------------------10
GOSUB 60
IF G%
<> 0 THEN 10
IF S$
<> "SECTION" THEN 10
GOSUB 60
REM
REM Skip unless ENTITIES section
REM
IF S$ <> "ENTITIES" THEN 10
REM
REM Scan until end of section, processing Vertexes
REM
2 0 GOSUB 6 0
30 IF G% = 0 AND S$ = "ENDSEC" THEN 80
IF G% = 0 AND S$ = "VERTEX" THEN
GOSUB 40: GOTO 3 0
GOTO 2 0
40 REM
REM Accumulate VERTEX entity groups
66
CHAPTER
TRANSFERRING AND
3
EXTRACTING
REM
1 = 0: J = 0
50 GOSUB 60
IF G% = 10 THEN GOSUB 9 0
IF G% = 0 AND S$ = "SEQEND" THEN ZT(J) = 0 :
K = K + 1:
GOSUB 100: RETURN
GOTO 5 0
60 REM
REM Read group code and following value
REM FOR X coordinates,read Y and possible z also
REM
IF Gl% < 0 THEN G% = -Gl%: Gl% = 0 ELSE INPUT #1, G%
IF G% < 10 OR G% = 999 THEN LINE INPUT #1, S$: RETURN
IF G%
>= 3 8
ANDG% <= 49 THEN INPUT #1, V: RETURN
IF G%
>= 50
ANDG% <= 59 THEN INPUT #1, a: RETURN
IF G%
>= 60
ANDG% <= 69 THEN INPUT
IF G%
>= 7 0
ANDG% <= 7 9 THEN INPUT #1, F % : RETURN
#1, P % : RETURN
IF G% >= 210 AND G% <= 219 THEN 7 0
IF G% >= 10 00 THEN LINE INPUT #1, T$: RETURN
IF G% >= 20 THEN PRINT "INVALID GROUP CODE"; G % : STOP
70 INPUT #1, X
INPUT #1, Gl%
IF Gl% <> (G% + 10) THEN PRINT "Invalid y
INPUT #1, Y
INPUT #1, Gl%
code"; Gl%: STOP
TRANSFERRING AND
CHAPTER 3
EXTRACTING
IF Gl% <> (G% + 20) THEN Gl% = -Gl% ELSE INPUT #1, Z
RETURN
8 0 CLOSE 1
END
90 IF Z = 0! THEN XB(I) = X: YB(I) = Y: ZB(I) = Z ELSE XT(J) = X:
Y T (J) = Y: ZT(J) = Z
IF Z = 0 THEN 1 = 1 + 1
ELSE J = J + 1
RETURN
100 IF K = 1 THEN 1 = 0 :
J = 0 ELSE 1 = 1 :
J = 1
110 IF Z T (J) = 0 THEN GOSUB 120: GOTO 30
PRINT USING "
###
I;
PRINT USING "####.###";
X B (I); Y B (I ); Z B (I); XT(J); YT(J); ZT(J)
OPEN "A", #2, "3D-MODEL.DAT"
PRINT #2, USING "####.###,";
X B (I ); Y B (I); ZB(I); XT(J); YT(J); ZT(J)
CLOSE #2
1=1+1:
J = J + 1: GOTO 110
RETURN
12 0 PRINT "--------------------------------------------------- "
RETURN
ii
ii ii n ii it ii ii n ii ii ii ii it ii ii ii ii ii ii ti n it n ii ii ii ii n ii ii it it ii ii it ii ii ii ii n ii ii ii ii ii ii ii ii ii ii it ti ii n ti ii ii n n n n ii
Corresponding flow diagrams are shown in the following pages.
68
CHAPTER 3
TRANSFERRING AND
Fig. 3.2
EXTRACTING
Flow diagram of extracting programme
69
CHAPTER 3
TRANSFERRING AND
F ig.
3.3
EXTRACTING
Flow d ia g r a m o f e x t r a c t i n g program m e
70
CHAPTER 3
3.6 Example
Here
is
a
database
created
by
the
above
extracting from a 3 dimensional drawing file
interface
program
same as in Fig.2.13
and Fig. 2.8 in AUTOCAD named,
"C:\ACAD11\DWGS\LIU\ABS1.DXF".
DATABASE OF ABS1
No.
XB
MM
YB
MM
XT
MM
ZB
MM
YT
MM
ZT
MM
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
11.930,
13.430,
14.800,
15.980,
16.940,
17.720,
18 .400,
18.960,
19.400,
19.730,
19.930,
20 .000,
19 .790,
19.330,
18.740,
18.010,
17.160,
16.190,
15.120,
13.940,
12.670,
11.320,
9.910,
8.430,
6.910,
5.360,
3.810,
2.240,
0.810,
-0.270,
-0.830,
-14.670,
-14.180,
-13.400,
-12.360,
-11.100,
-9.730,
-8.310,
-6.830,
-5.310,
-3.770,
-2.200,
-0.630,
0.930,
2.440,
3.900,
5.310,
6.640,
7.890,
9.040,
10.090,
11.030,
11.850,
12.550,
13.110,
13.540,
13.830,
14.110,
14.060,
13.410,
12.280,
10.810,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
15.490,
17.270,
18.900,
20.360,
21.630,
22.720,
23.600,
24.270,
24.730,
24.970,
24.980,
24.770,
24.340,
23.690,
22 .840,
21.780,
20.520,
19 .080,
17 .480,
15.710,
13.810,
11.780,
9 .650,
7.440,
5.150,
2.820,
0.470,
-1.890,
-4.230,
-6.530,
-8 .780,
-19.620,
-18.070,
-16.370,
-14.510,
-12.530,
-10.430,
-8.250,
-5.980,
-3.670,
-1.320,
1.040,
3.390,
5.710,
7.980,
10.170,
12.280,
14.280,
16.150,
17.880,
19.440,
20.840,
22 .050,
23.060,
23.870,
24.460,
24.840,
25.000,
24.930,
24 .640,
24.130,
23.410,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
-0 .810,
9.370,
0.000,
-9.480,
23 .130,
50.000,
71
CHAPTER 3
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
-0.270,
0.510,
0.65 0,
0.080,
-1.060,
-2.470,
-3.830,
-5.120,
-6.370,
-7.540,
-8.640,
-9.630,
-10.530,
-11.680,
-13.080,
-14.530,
-15.900,
8.030,
6.820,
5.400,
4.090,
3.230,
3.330,
3.820,
4.470,
5.200,
6.040,
6.990,
8.040,
9.170,
9.980,
10.290,
10.230,
9.790,
0 .000
0 .000
0. 000
0 .000
0 .000
0. 000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0. 000
-10.180,
-10.860,
-11.540,
-12.200,
-12.850,
-13.500,
-14.120,
-14.740,
-15.340,
-15.930,
-16.510,
-17.070,
-17.610,
-18.140,
-18.650,
-19.150,
-19.620,
22.840,
22.520,
22.180,
21.820,
21.440,
21.040,
20.630,
20.190,
19.740,
19.260,
18.770,
18.270,
17.740,
17 .200,
16.650,
16.080,
15.490,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
-16.870,
-17.720,
-18.440,
-19.050,
-19.510,
-19.830,
-20.010,
-20.040,
-20.050,
-20.060,
-19.970,
-19.770,
-19.470,
-19.060,
-18.550,
-17 .940,
-17.260,
-16.500,
-15.650,
-14.790,
-13.920,
-12.870,
-11 .680,
-10.400,
-9.100,
8.930,
7.940,
6.860,
5.700,
4.490,
3.230,
1.940,
0.640,
-0.660,
-1.960,
-3 .260,
-4.550,
-5.810,
-7.050,
-8.240,
-9.400,
-10.510,
-11.560,
-12.550,
-13.520,
-14.490,
-15.250,
-15.760,
-16.000,
-15.970,
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0 .000
0. 000
0 .000
0 .000
0 .000
0 .000
-20.730,
-21.720,
-22.590,
-23.330,
-23.940,
-24.410,
-24.750,
-24.940,
-25.000,
-24.910,
-24.680,
-24.320,
-23.810,
-23.170,
-22.400,
-21.510,
-20.490,
-19.350,
-18.110,
-16.760,
-15.320,
-13.790,
-12.190,
-10.510,
-8.780,
13.970,
12.380,
10.710,
8.980,
7.200,
5.380,
3.530,
1.660,
-0.220,
-2.090,
-3.960,
-5.800,
-7.610,
-9.380,
-11.100,
-12.750,
-14.330,
-15.830,
-17.240,
-18.550,
-19.760,
-20.850,
-21.830,
-22.680,
-23.410,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
-8.280,
-7.620,
-7.170,
-6.970,
-6.830,
-15.250,
-14.560,
-13.710,
-12.780,
-11.830,
0 .000
0 .000
0 .000
0 .000
0 .000
-8.090,
-7.390,
-6.690,
-5.980,
-5.260,
-23.660,
-23.880,
-24 .090,
-24.280,
-24.440,
50.000,
50.000,
50.000,
50.000,
50.000,
72
CHAPTER 3
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
-6.710,
-6.650,
-6.660,
-6.730,
-6.870,
-6.680,
-6.000,
-5.150,
-4.210,
-3.260,
-2.370,
-1.640,
-1.040,
-0.480,
0.020,
0.450,
0.910,
1.560,
2.260,
2.990,
3.770,
4.580,
5.430,
6.300,
7.200,
8. 120,
9.060,
10.020,
10.980,
11.930,
-10.870,
-9.910,
-8.950,
-7.990,
-7.040,
-6.170,
-5.500,
-5.050,
-4.870,
-4.970,
-5.340,
-5.950,
-6.700,
-7.490,
-8.310,
-9.170,
-10.000,
-10.710,
-11.370,
-11.990,
-12.560,
-13.070,
-13.530,
-13.930,
-14.270,
-14.550,
-14.750,
-14.840,
-14.810,
-14.670,
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
-4.540,
-3.820,
-3.090,
-2.360,
-1.630,
-0.900,
-0.170,
0.570,
1.300,
2.030,
2.760,
3.490,
4.220,
4.940,
5.650,
6.370,
7.070,
7.770,
8.470,
9.150,
9.830,
10.500,
11.160,
11.810,
12.460,
13.090,
13.710,
14 .310,
14.910,
15.490,
-24.580,
-24.710,
-24.810,
-24.890,
-24.950,
-24.980,
-25.000,
-24.990,
-24.970,
-24.920,
-24.850,
-24.760,
-24.640,
-24.510,
-24.350,
-24.180,
-23.980,
-23.760,
-23.520,
-23.260,
-22.990,
-22.690,
-22.370,
-22.030,
-21.680,
-21.300,
-20.910,
-20.500,
-20.070,
-19.620,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
Note: " C:\ACAD11\DWGS\LIU\ABS1.DXF " file for Fig.2.13 is listed
in APPENDIX 1.
CHAPTER 3
The following is
another database
example named "3D- GEAR.DAT"
extracted from a gear.dxf file of Figure 2.22 which is a more
complex shaped 3 dimensional model.
DATABASE OF 3D-GEAR
N O.
XB
MM
YB
MM
ZB
MM
XT
MM
YT
MM
ZT
MM
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
25.190,
25.070,
25.420,
26.200,
27.320,
28 .500,
29.380,
29 .850,
29.850,
29.380,
28.500,
27 .320,
25.980,
24.640,
23.460,
22 .230,
20.870,
19 .550,
18 .440,
6 .750,
8.110,
9.420,
10.540,
11.320,
11.990,
13.040,
14.320,
15.680,
16.960,
18.010,
18.690,
18.920,
18.690,
18.000,
17.420,
17.300,
17.660,
18.440,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
35.740,
35.450,
35.120,
34.770,
34 .390,
33.970,
33 .530,
33.060,
32 .570,
32.040,
31.490,
30.910,
30.310,
29.680,
29 .020,
28.340,
27.640,
26.910,
26.160,
9.580,
10.610,
11.640,
12.650,
13.660,
14.650,
15.640,
16.610,
17.560,
18.500,
19.420,
20.330,
21.220,
22.090,
22 .950,
23 .780,
24.600,
25.390,
26.160,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
17.660,
17.300,
17.420,
18.000,
18.690,
18.920,
18.690,
18.010,
16.960,
15.680,
14.320,
13.040,
11.990,
11.320,
10.540,
19.550,
20.870,
22.230,
23.460,
24.640,
25.980,
27.320,
28 .500,
29.380,
29.850,
29.850,
29.380,
28.500,
27.320,
26.200,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
25.390,
24 .600,
23 .780,
22 .950,
22 .090,
21.220,
20.330,
19.420,
18.500,
17.560,
16.610,
15.640,
14.650,
13.660,
12.650,
26.910,
27.640,
28.340,
29.020,
29.680,
30.310,
30.910,
31.490,
32.040,
32 .570,
33.060,
33.530,
33 .970,
34 .390,
34.770,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
74
CHAPTER 3
16
17
18
9 .420,
8.110,
6.750,
25.420,
25.070,
25.190,
0 .000
0 .000
0. 0 0 0
11.640,
10.610,
9.580,
35.120,
35.450,
35.740,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
5.510,
4.550,
3.970,
3.860,
3.860,
3.400,
2.520,
1.340,
0.000,
-1.340,
-2.520,
-3.400,
-3.860,
-3.860,
-3.970,
-4.550,
-5.510,
-6 .750,
25.760,
26.730,
27.960,
29.320,
30.680,
31.960,
33.010,
33.690,
33.920,
33.690,
33.010,
31.960,
30.680,
29.320,
27.960,
26.730,
25.760,
25.190,
0. 0 0 0
0 .0 0 0
0. 000
0 .000
0. 0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 000
0 .0 0 0
0 .000
0 .0 0 0
0 .000
0. 000
0. 0 0 0
0 .0 0 0
0 .000
8.530,
7.480,
6.420,
5.360,
4.300,
3.220,
2.150,
1.080,
0.000,
-1.080,
-2.150,
-3.220,
-4.300,
-5.360,
-6.420,
-7.480,
-8.530,
-9 .580,
36.000,
36.240,
36.440,
36.610,
36.750,
36.860,
36.940,
36.980,
37.000,
36.980,
36.940,
36.860,
36 .750,
36.610,
36.440,
36.240,
36.000,
35.740,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50 .000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
-8.110,
-9.420,
-10.540,
-11.320,
-11.990,
-13.040,
-14.320,
-15.680,
-16.960,
-18.010,
-18.690,
-18.920,
-18.690,
-18.000,
-17.420,
-17.300,
-17.660,
-18.440,
25.070,
25.420,
26.200,
27.320,
28 .500,
29 .380,
29.850,
29.850,
29.380,
28.500,
27.320,
25.980,
24.640,
23.460,
22.230,
20.870,
19.550,
18.440,
0. 000
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0. 0 0 0
0 .0 0 0
0. 0 0 0
-10.610,
-11.640,
-12.650,
-13.660,
-14.650,
-15.640,
-16.610,
-17.560,
-18.500,
-19.420,
-20.330,
-21.220,
-22 .090,
-22 .950,
-23.780,
-24.600,
-25.390,
-26.160,
35.450,
35.120,
34 .770,
34.390,
33.970,
33.530,
33.060,
32.570,
32.040,
31.490,
30.910,
30.310,
29.680,
29.020,
28.340,
27.640,
26.910,
26.160,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
-19.550,
-20.870,
-22.230,
-23.460,
-24.640,
-25.980,
-27.320,
17.660,
17.300,
17.420,
18.000,
18.690,
18.920,
18.690,
0. 0 0 0
0. 0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0. 0 0 0
-26.910,
-27.640,
-28.340,
-29.020,
-29.680,
-30.310,
-30.910,
25.390,
24 .600,
23.780,
22.950,
22.090,
21.220,
20.330,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
75
CHAPTER 3
8
9
10
11
12
13
14
15
16
17
18
-28.500,
-29 .380,
-29.850,
-29.850,
-29.380,
-28.500,
-27.320,
-26.200,
-25.420,
-25.070,
-25.190,
18.010,
16.960,
15.680,
14.320,
13.040,
11.990,
11.320,
10.540,
9.420,
8 .110,
6.750,
0 .000
0 .000
0 .000
0 .000
0. 000
0 .000
0 . 000
0. 000
0 .0 0 0
0. 000
0 . 000
-31.490,
-32 .040,
-32.570,
-33.060,
-33.530,
-33.970,
-34.390,
-34.770,
-35.120,
-35.450,
-35.740,
19.420,
18.500,
17.560,
16.610,
15.640,
14.650,
13 .660,
12.650,
11.640,
10.610,
9.580,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
-25.760,
-26.730,
-27.960,
-29.320,
-30.680,
-31.960,
-33 .010,
-33.690,
-33 .920,
-33 .690,
-33.010,
-31.960,
-30.680,
-29.320,
-27.960,
-26.730,
-25.760,
-25.190,
5.510,
4.550,
3.970,
3.860,
3.860,
3.400,
2.520,
1.340,
0 .000,
-1.340,
-2.520,
-3.400,
-3.860,
-3 .860,
-3.970,
-4.550,
-5.510,
-6.750,
0 .0 0 0
0 .0 0 0
0 .000
0. 000
0 .000
0. 000
0. 000
0 .000
0 .0 0 0
0. 000
0 .000
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
-36.000,
-36.240,
-36.440,
-36.610,
-36.750,
-36.860,
-36.940,
-36.980,
-37 .000,
-36.980,
-36.940,
-36.860,
-36.750,
-36.610,
-36.440,
-36.240,
-36.000,
-35.740,
8.530,
7.480,
6.420,
5.360,
4.300,
3.220,
2.150,
1.080,
0.000,
-1.080,
-2.150,
-3.220,
-4.300,
-5.360,
-6.420,
-7.480,
-8.530,
-9.580,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
50.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
-25.070,
-25.420,
-26.200,
-27.320,
-28.500,
-29.380,
-29.850,
-29.850,
-29.380,
-28.500,
-27.320,
-25.980,
-24.640,
-23.460,
-22.230,
-20.870,
-19.550,
-8.110,
-9.420,
-10.540,
-11.320,
-11.990,
-13.040,
-14.320,
-15.680,
-16.960,
-18.010,
-18.690,
-18.920,
-18.690,
-18.000,
-17.420,
-17.300,
-17.660,
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 000
0 .0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0. 000
0 .0 0 0
0. 000
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
-35.450,
-35.120,
-34.770,
-34.390,
-33.970,
-33.530,
-33.060,
-32.570,
-32.040,
-31.490,
-30.910,
-30.310,
-29 .680,
-29.020,
-28 .340,
-27.640,
-26.910,
-10.610,
-11.640,
-12.650,
-13.660,
-14.650,
-15.640,
-16.610,
-17.560,
-18.500,
-19.420,
-20.330,
-21.220,
-22 .090,
-22 .950,
-23.780,
-24.600,
-25.390,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
76
CHAPTER 3
0 .0 0 0
-26.160, -26.160,
50.000
-19.550,
-20.870,
-22.230,
-23.460,
-24.640,
-25.980,
-27.320,
-28.500,
-29.380,
-29.850,
-29.850,
-29.380,
-28.500,
-27.320 ,
-26.200,
-25.420,
-25.070,
-25.190,
0 .000
0 .000
0 .000
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0. 0 0 0
0. 0 0 0
0. 0 0 0
0 .000
0 .0 0 0
0 .000
0 .000
0 .0 0 0
0 .0 0 0
0 .000
-25.390,
-24.600,
-23.780,
-22.950,
-22.090,
-21.220,
-20.330,
-19.420,
-18.500,
-17.560,
-16.610,
-15.640,
-14.650,
-13.660,
-12.650,
-11.640,
-10.610,
-9.580,
-26.910,
-27.640,
-28.340,
-29.020,
-29 .680,
-30.310,
-30.910,
-31.490,
-32.040,
-32.570,
-33.060,
-33.530,
-33.970,
-34.390,
-34.770,
-35.120,
-35.450,
-35.740,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
18 -18.440, -18.440,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
-17.660,
-17.300,
-17.420,
-18.000,
-18.690,
-18.920,
-18.690,
-18.010,
-16.960,
-15.680,
-14.320,
-13.040,
-11.990,
-11.320,
-10.540,
-9.420,
-8.110,
-6 .750,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
-5 .510,
-4.550,
-3.970,
-3.860,
-3.860,
-3.400,
-2.520,
-1.340,
0.000,
1.340,
2.520,
3.400,
3.860,
3.860,
3.970,
4.550,
5.510,
6.750,
-25.760,
-26.730,
-27.960,
-29.320,
-30.680,
-31.960,
-33.010,
-33.690,
-33.920,
-33.690,
-33.010,
-31.960,
-30.680,
-29.320,
-27.960,
-26.730,
-25.760,
-25.190,
0 .0 0 0
0. 0 0 0
0. 000
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
-8.530,
-7.480,
-6.420,
-5.360,
-4.300,
-3.220,
-2 .150,
-1.080,
0.000,
1.080,
2.150,
3.220,
4.300,
5.360,
6.420,
7.480,
8.530,
9.580,
-36.000,
-36.240,
-36.440,
-36.610,
-36.750,
-36.860,
-36 .940,
-36.980,
-37.000,
-36.980,
-36.940,
-36.860,
-36.750,
-36.610,
-36.440,
-36.240,
-36.000,
-35.740,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
1
2
3
4
5
6
7
8
9
8.110,
9.420,
10.540,
11.320,
11.990,
13.040,
14.320,
15.680,
16.960,
-25.070,
-25.420,
-26.200,
-27.320,
-28.500,
-29.380,
-29.850,
-29.850,
-29.380,
0. 0 0 0
0 .0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0 .0 0 0
0 .0 0 0
0. 0 0 0
0. 0 0 0
10.610,
11.640,
12.650,
13.660,
14.650,
15.640,
16.610,
17.560,
18.500,
-35.450,
-35.120,
-34 .770,
-34.390,
-33.970,
-33.530,
-33.060,
-32.570,
-32.040,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
77
CHAPTER 3
10
11
12
13
14
15
16
17
18
18.010,
18.690,
18.920,
18.690,
18.000,
17.420,
17.300,
17.660,
18.440,
-28 .500,
-27.320,
-25.980,
-24.640,
-23.460,
-22.230,
-20.870,
-19.550,
-18.440,
0
0
0
0
0
0
0
0
0
000 /
000 f
000 t
000
000
f
t
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19.550,
20.870,
22.230,
23.460,
24.640,
25.980,
27.320,
28.500,
29.380,
29.850,
29.850,
29.380,
28.500,
27.320,
26.200,
25.420,
25.070,
25.190,
-17.660,
-17.300,
-17.420,
-18.000,
-18.690,
-18.920,
-18.690,
-18.010,
-16.960,
-15.680,
-14.320,
-13.040,
-11.990,
-11.320,
-10.540,
-9.420,
-8.110,
-6.750,
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
000
,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
25.760,
26.730,
27.960,
29.320,
30.680,
31.960,
33.010,
33.690,
33.920,
33.690,
33.010,
31.960,
30.680,
29 .320,
27 .960,
26.730,
25.760,
25.190,
-5.510,
-4.550,
-3.970,
-3.860,
-3.860,
-3.400,
-2.520,
-1.340,
0.000,
1.340,
2.520,
3.400,
3.860,
3.860,
3.970,
4.550,
5.510,
6.750,
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
000
t
000 1
000 /
000 /
000 ,
,
,
000 ,
000 ,
000 ,
000 ,
000 ,
000 ,
000 ,
000 ,
000 ,
0 00
000
000
000
000
000
000
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
19.420,
20.330,
21.220,
22.090,
22 .950,
23.780,
24.600,
25.390,
26.160,
-31.490,
-30.910,
-30.310,
-29.680,
-29.020,
-28.340,
-27.640,
-26.910,
-26.160,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
26.910,
27.640,
28.340,
29.020,
29.680,
30.310,
30.910,
31.490,
32.040,
32.570,
33.060,
33.530,
33.970,
34.390,
34.770,
35.120,
35.450,
35.740,
-25.390,
-24.600,
-23.780,
-22.950,
-22.090,
-21.220,
-20.330,
-19.420,
-18.500,
-17.560,
-16.610,
-15.640,
-14.650,
-13.660,
-12.650,
-11.640,
-10.610,
-9.580,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
36.000,
36.240,
36.440,
36.610,
36.750,
36.860,
36.940,
36.980,
37.000,
36.980,
36.940,
36.860,
36.750,
36.610,
36.440,
36.240,
36.000,
35.740,
-8.530,
-7.480,
-6.420,
-5.360,
-4 .300,
-3.220,
-2.150,
-1.080,
0.000,
1.080,
2.150,
3.220,
4.300,
5.360,
6.420,
7.480,
8.530,
9.580,
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
50.000
78
CHAPTER 3
Now it can be seen that all data in this database extracted from
a drawing file in DXF format should be very easy to be used by
another program as part of integration of CAD and CAM system.
Because
it
is
a kind of neutral database,
any software
can
easily have access to it whenever it is necessary.
The
data
base
(from
c:\acadll\dwgs\liu\abs2.dxf)
below
is
obtained after scaling down the Figure 2.13 to half its size,
similarly, one also can get the database of a larger
Figure 2.13 easily,
size of the
comparing this database with the previous
database of the Figure 2.13.
DATABASE OF ABS2
No.
XB
mm
YB
mm
ZB
mm
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
5.960,
6.710,
7.400,
7.990,
8.470,
8.860,
9.200,
9.480,
9 .700 ,
9 .860,
9 .960,
10.000,
9.900,
9.670,
9.370,
-7.330,
-7.090,
-6.700,
-6.180,
-5.550,
-4.870,
-4.150,
-3.420,
-2.660,
-1.880,
-1.100,
-0.310,
0.470,
1.220,
1.950,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
XT
mm
7.750,
8.640,
9.450,
10.180,
10.820,
11.360,
11.800,
12.140,
12.360,
12.480,
12.490,
12.380,
12.170,
11.850,
11.420,
79
YT
mm
ZT
mm
-9.810,
-9.040,
-8.180,
-7.260,
-6.260,
-5.220,
-4.120,
-2 .990,
-1.830,
-0.660,
0.520,
1.690,
2.850,
3.990,
5.090,
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
25.000
CHAPTER 3
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
9.010,
8.580,
8.100,
7.560,
6.970,
6.340,
5.660,
4.950,
4 .220 ,
3.460,
2.680,
1.900,
1.120,
0.400,
-0.140,
-0.420,
2.650,
3.320,
3.940,
4.520,
5.050,
5.520,
5.930,
6.270,
6.560,
6.770,
6.910,
7.050,
7.030,
6.710,
6.140,
5.410,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
10.890,
10.260,
9.540,
8.740,
7.860,
6.910,
5.890,
4.830,
3.720,
2.580,
1.410,
0.240,
-0.940,
-2.110,
-3.270,
-4.390,
6.140,
7.140,
8.080,
8.940,
9.720,
10.420,
11.020,
11.530,
11.930,
12 .230,
12.420,
12.500,
12.460,
12.320,
12.070,
11.700,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25. 000,
25.000,
25.000,
25. 000,
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
-0.400,
-0.130,
0.250,
0.330,
0.040,
-0.530,
-1.230,
-1.910,
-2.560,
-3.180,
-3.770,
-4.320,
-4.820,
-5.260,
-5.840,
-6.540,
-7.260,
-7.950,
4.680,
4.020,
3.410,
2.700,
2.040,
1.620,
1.670,
1.910,
2.240,
2.600,
3 .020,
3 .500,
4.020,
4 .590,
4 .990 ,
5 .150,
5.110,
4.890,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
-4.740,
-5.090,
-5.430,
-5.770,
-6.100,
-6.430,
-6.750,
-7.060,
-7.370,
-7 .670,
-7.970,
-8.250,
-8.530,
-8.810,
-9.070,
-9.330,
-9.570,
-9.810,
11.570,
11.420,
11.260,
11.090,
10.910,
10.720,
10.520,
10.310,
10.100,
9.870,
9.630,
9.390,
9.130,
8.870,
8.600,
8.320,
8.040,
7.750,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25. 000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
1
2
3
4
5
6
7
8
9
10
11
12
13
-8.430,
-8.860,
-9.220,
-9.520,
-9.760,
-9.920,
-10.010,
-10.020,
-10.020,
-10.030,
-9.990,
-9.890,
-9.730,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
0.000,
-10.370,
-10.860,
-11.300,
-11.670,
-11.970,
-12.210,
-12.370,
-12.470,
-12.500,
-12.460,
-12.340,
-12.160,
-11.910,
6.990,
6.190,
5.350,
4.490,
3.600,
2.690,
1.770,
0.830,
-0.110,
-1.050,
-1.980,
-2.900,
-3.810,
25.000,
25 .000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
25.000,
4.460,
3 .970,
3.430,
2.850,
2.240,
1. 610,
0.970,
0.320,
-0.330,
-0.980,
-1.630,
-2.270,
-2.910,
80
EXTRACTING
AND
TRANSFERRING
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CHAPTER
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CHAPTER 3
3 .7 Conclusion
Now it can be seen that the DXF interface program developed here
is very successful in extracting and transferring 3 dimensional
drawing files in DXF format to a standard neutral database which
acts
like a bridge between CAD and CAM systems.
bridge
standard
neutral
database
that
makes
it
It is this
possible
to
realise the integration of the CAD/CAM and WEDM in this project.
Of course, nowadays there are a lot of books and software about
the integration of CAD/CAM available on the market.
However,
most of them are just about some general introduction of CAD/CAM
systems
and the purpose of some material
is to market their
software for integration of CAD/CAM.
On
the
other
available,
hand,
even
such as NCP
though
some
SYSTEM PACKAGE
software
( NCP
packages
are
SYSTEM means NC
programmer system by NC Microproducts Inc. that offers a set
of programs
that work
in
conjunction with
a computer
aided
design program to generate numerical control code for NC or CNC
machine tools
)[33],
it could be found that no one software
package about integration of CAD/CAM was designed
specially for
a given project, especially for 3D complex shaped model machining
on WEDM.
In most cases,
even if one decides to apply those
82
CHAPTER 3
software to his project such as a CNC milling machine or a CNC
lathe,
software
it is necessary to do a lot of work first to make the
suit
the
project,
like
pre-processing
and
post
processing as well as using some necessary support programs for
specialized operations.
So the DXF interface program developed successfully here is a
considerable breakthrough in this area of research towards the
integration of CAD/CAM for WEDM.
the integration of CAD/CAM,
DXF interface program
Compared to other software for
it can be seen later that using this
it is simpler, more efficient and less
costly to realise the integration of CAD/CAM.
Moreover, the DXF interface program developed here can not only
be applied to this WEDM research but can also be applied to other
projects related to the integration of CAD/CAM.
For example the
integration of CAD/CAM on a CNC milling machine or on a CNC lathe
to generate some complex shaped parts.
The following Fig.
3.4
is a complex shaped part which can be
taken either as a spinning object to be turned on a NC lathe or
as an object to be milled on a NC milling machine.
83
TRANSFERRING AND
CHAPTER 3
F ig.
3 .4
A com plex sh ap p ed p a r t f o r t u r n i n g
EXTRACTING
or m illin g .
CHAPTER 3
In either case,
the drawing created with AUTOCAD
needs to be
transferred to a kind of neutral database to link the CAD with NC
program that controls a machine in order to get an integrated
effect.
With the help of the DXF interface program developed here, it is
very easy to
obtain the desired database mentioned above from
the sample drawing shown in Fig.3.4.
In the following database,
coordinates XB,YB
accessed by the related control program.
can be taken as
a
can be directly
Other coordinate values
sort of virtual values as CNC lathe only need
to know two coordinate values XB, YB without having concerned
with the other values.
However, all values of coordinates X B ,Y B ,ZB,X T ,YT and ZT are very
useful for a CNC milling machine as the CNC milling machine not
only requires the data like XB,YB describing the plan view,
but
also requires the data on the depth on its point so as to create
complex shaped parts.
85
CHAPTER 3
TRANSFERRING AND
Database generated from
EXTRACTING
drawing Fig. 3.4
XB
YB
ZB
XT
YT
ZT
MM
MM
MM
MM
MM
MM
195.000,
0.000,
0.000, 195.000,
0.000,
20.000
194.870,
5.670,
0.000, 194.870,
5.670,
20.000
194.740,
11.330,
0.000, 194 .740,
11.330,
20.000
194.610,
17.000,
0.000, 194.610,
17.000,
20.000
194.490,
22.660,
0.000, 194.490,
22.660,
20.000
194.150,
28.320,
0.000, 194.150,
28.320,
20.000
193.640,
33.960,
0.000, 193.640,
33 .960,
20.000
193.140,
39.610,
0.000, 193.140,
39. 610,
20.000
192.230,
45.190,
0.000, 192.230,
45.190,
20.000
191.030,
50.730,
0.000, 191.030,
50.730,
20.000
188.600,
55.810,
0.000, 188.600,
55.810,
20.000
183.910,
55.130,
0.000, 183 .910,
55.130,
20.000
180.900,
50.340,
0.000, 180.900,
50.340,
20.000
177.190,
46.100,
0.000, 177.190,
46.100,
20.000
172.280,
43.320,
0.000, 172.280,
43.320,
20.000
166.870,
41.750,
0.000, 166.870,
41.750,
20.000
161.310,
40.680,
0.000, 161.310,
40.680,
20.000
155.660,
40.340,
0.000, 155.660,
40.340,
20.000
150.000,
40.000,
0.000, 150.000,
40.000,
20.000
CHAPTER 3
141.770,
40.660,
0 .000
141.770,
40.660,
20.000
133.540,
41.320,
0. 000
133.540,
41.320,
20.000
125.550,
43.230,
0 .000
125.550,
43.230,
20.000
117.740,
45.820,
0 .000
117.740,
45.820,
20.000
110.950,
50.520,
0. 000
110.950,
50.520,
20.000
105.680,
56.800,
0. 000
105.680,
56.800,
20.000
101.920,
64.130,
0. 000
101.920,
64.130,
20.000
98.060,
71.380,
0. 000
98.060,
71.380,
20.000
91.850,
76.650,
0 .000
91.850,
76.650,
20.000
83.750,
76.780,
0 .000
83.750,
76.780,
20.000
77.330,
71.860,
0 .000
77.330,
71.860,
20.000
73.380,
64.660,
0. 000
73 .380,
64.660,
20.000
70.030,
57.130,
0 .000
70.030,
57.130,
20.000
65.360,
50.380,
0 .000
65.360,
50.380,
20.000
58.980,
45.210,
0. 000
58.980,
45.210,
20.000
51.310,
42.140,
0 .000
51.310,
42 .140,
20.000
43.210,
40.850,
0 .000
43 .210,
40.850,
20.000
35.000,
40.000,
0 .000
35.000,
40.000,
20.000
32.210,
41.040,
0 .000
32.210,
41.040,
20.000
29.590,
42.460,
0 .000
29 .590,
42.460,
20.000
27 .210,
44.240,
0 .000
27 .210,
44.240,
20.000
25.100,
46.340,
0 .000
25.100,
46.340,
20.000
23.320,
48.720,
0 .000
23.320,
48.720,
20.000
21.890,
51.330,
0. 000
21.890,
51.330,
20.000
20.850,
54.120,
0 .000
20.850,
54.120,
20.000
87
CHAPTER 3
20.210,
57.030,
0.000,
2 0. 210,
57.030,
20.000,
20.000,
60.000,
0
. 000,
2 0 . 000,
60.000,
20.000,
20.210,
62.970,
0
. 000,
20. 210,
62.970,
20.000,
20.850,
65.880,
0
.000,
20.850,
65.880,
20.000,
21.890,
68.670,
0 .0 0 0 ,
21.890,
68.670,
20.000,
23.320,
71.280,
0
. 000,
23.320,
71.280,
20.000,
25.100,
73.660,
0
. 000,
25.100,
73.660,
2 0 .000,
27.210,
75.760,
0
.000,
27.210,
75.760,
2 0 .000,
29.590,
77.540,
0
.000,
29.590,
77.540,
20.000,
32.210,
78.960,
0 .000,
32.210,
78.960,
2 0 .000,
35.000,
80.000,
0
.000,
35.000,
80.000,
20.000,
33.060,
80.000,
0
.000,
33.060,
80.000,
20.000,
31.110,
80.000,
0
. 000,
31.110,
80.000,
20.000,
29.170,
80.000,
0
.000,
29.170,
80.000,
20.000,
27.220,
80.000,
0
.000,
27.220,
80.000,
20.000,
25.280,
80.000,
0
.000,
25.280,
80.000,
20.000,
23.330,
80.000,
0 . 000,
23.330,
80.000,
20.000,
21.390,
80.000,
0
.000,
21.390,
80.000,
20.000,
19.440,
80.000,
0
.000,
19.440,
80.000,
20.000,
17.500,
80.000,
0
. 000,
17.500,
80.000,
20.000,
15.560,
80.000,
0
.0 0 0 ,
15.560,
80.000,
20.000,
13.610,
80.000,
0
.000,
13.610,
80.000,
20.000,
11.670,
80.000,
0
.000,
11.670,
80.000,
20.000,
9.720,
80.000,
0
.000,
9.720,
80.000,
20.000,
7.780,
80.000,
0
.000,
7.780,
80.000,
20.000,
88
CHAPTER 3
TRANSFERRING AND
EXTRACTING
5.830,
80.000,
0 .000
5.830,
80.000,
20.000
3.890,
80.000,
0.000
3.890,
80.000,
20.000
1.940,
80.000,
0. 000
1.940,
80.000,
20.000
0.000,
80.000,
0. 000
0.000,
80.000,
20.000
89
Chapter 4
THE MOTION CONTROL
4.1 An overview of the motion control
4.1.1 The hardware for the motion control
4.1.2 The software for the motion control
4.2 Transformation of co-ordinates
4.3 Features of the control program
4.4 Test Procedure
4.5 conclusion
THE MOTION
CHAPTER 4
CONTROL
4.1 An overview of the motion control
4.1.1
The hardware for the motion control
It can be seen from Figs.1.1-1.4 that the machine
in this case
is actually a four axes manipulator controlled by a computer,
each
axis
Between
is
the
driven
AC
by
a
brushless
corresponding
motors
and
AC
the
brushless
computer
motor.
are
the
interface hardware ------ KS Brushless Servo Motor Indexer Drives
or
Compumotor
KS
Indexer/Drive
made
by
Parker
Hannifin
Corporation, USA.
The KS Drive adds a complete indexer with an industry standard
RS-232C
interface.
terminal,
and
It is easily controlled from a computer,
most
programmable
contllers.
The
indexng
language is based on Copumotor1s
popular Model 2100 indexer, and
the
and
KS
is
capable
of
storing
executing
complex
motion
programs from its own non-volatile memory (EEPROM).
The Compumotor KS Indexer/Drive
motion control device.
the drive in
is a powerful,
" all
in one"
It provides the user with the indexer and
one package.
The additional facilities of the PC23 indexer like trigger inputs
and
programmable
outputs
had
been
utilized
by
designing
a
CHAPTER
THE MOTION CONTROL
4
programmable voltage regulator (PVR) circuit, which controls the
voltage in the cutting wire.(Fig.4.1)
THE INDEXER:
Each
of the prototype
research
can
simultaneously.
indexers which have
control
three
axes
been used
independently
It is designed to be connected to an
micro-computer (PC).
in this
and
IBM
The PC23 indexer uses a 16 bit processor
to manage the control of three motor axes.
Two PC23 indexers and
four KS-drives were used to generate some complex shaped model.
The PC2 3 indexer receives acceleration,
direction
velocity, position and
information from the micro-computer based software.
The on-board
micro-processor uses this information to generate
motion profile command signals for the KS - drives.
The KS
- drive accepts these digital
"step"
pulses
from the
indexer, at controlled rates up to 5000,000 steps per second, and
the internal drive logic and power amplifiers set and maintains
the output current levels to the AC servomotor windings[31].
The
PC2 3 indexer consists of two parts, the main circuit board
and the adaptor box.
inside
The main circuit board
is incorporated
the micro-computer and is connected to the adaptor box.
CHAPTER
The
THE MOTION
4
adaptor
box
is
outside
the
computer
and
CONTROL
has
all
the
connections to the KS - drives and other devices.
The two PC23 indexers are set at two different addresses
sharing with any other peripheral );
the
other
compatible)
RAM.
at
310
hex
in the
I/O
with 20 MB hard disk,
( not
one is set at 300 hex and
BUS
of
the
computer
(IBM
a floppy drive and a 640 KB
A PC23 system diagram is shown in Figure 4.2.
All applications of
an indexer axes involve either movement of
a motor to a precise position ( number of steps ) or movement of
the motor at a prescribed velocity (revolutions/second).
The model for motion control adopted here is an absolute normal
model because it is suitable for the simulated WEDM process.
For
example, if we want to move motor one with an acceleration
of 0.1 rev./ squared sec. and a velocity of 0.2 rev./sec. through
a distance of 10 mm in the CW(clockwise)
direction and if the
indexer is set at 5000 steps/rev., and the KS-Drive is also set
at the same resolution, the mode selected is absolute then the
number of motor steps is calculated as follows:
10mm(linear
distance)*5000(steps/rev.)/2mm(pitch
screw)=25,000 motor steps.
93
of
lead
THE MOTION CONTROL
CHAPTER 4
Then the command to indexer will be :
1MN 1MPA
MN
1 A 0 .1
1V0.2 ID-2 50 00 1G
= normal mode.
MPA = absolute normal mode.
A
= acceleration.
V
= velocity.
D
= distance.
G
= "go" an execution command to initiate a motor motion.
THE KS-DRIVE:
The KS-Drive is a complete brushless servo positioning system. It
consists
of a brushless
servomotor,
a brushless
feedback and
microprocessor based closed loop drive amplifier.
The KS-drive accepts digital STEP and DIRECTION inputs to control
position and velocity.
The on-board
micro-processor monitors
both the pulse inputs from the indexer
and the resolver feedback
from the motor shaft
and then determines the proper current
levels to apply to the motor.
The resolver feedback used on KS-
drive can be programmed between 1000 to 16,384 steps/revolution
by using CMR command through the RS-2 32 interface and is saved in
EEPROM memory.
94
THE MOTION CONTROL
CHAPTER 4
The KS-drive can be divided into two major parts,
controller board and the analog amplifier board.
board
sends
two
digitized waveforms
from
its
the digital
The controller
digital
analog
converters to the analog amplifier board. The analog amplifier
board generates
its own third phase command and measures the
actual current to determine the correct voltage pulse width to
apply to the motor's windings.
A block diagram of the KS drive
is shown in Figure 4.3.
The
controller
commands
a
" desired
windings.
The position of the motor
controller
via
the
resolver
current"
in
the
motor
shaft is sensed by the
attached
to
the
motor.
The
positional information is used by the controller to generate a
"desired current" command to the amplifier.
A
important
aspect
of the
servo
system
is
that
all
of the
position compensation can be handled by the digital controller
board.
The recursive equation is an approximation of an analog,
continuous-time PID
network, which is used quite often for the
purpose of stabilizing conventional servo systems.
The following outline describes how the PID and V (Proportional,
Integral,
Derivative
and
response.
Figure 4.1.4 is
Velocity
) gain
affect
the
system
a PID loop block diagram of the KS-
drive .
95
THE MOTION
CHAPTER 4
Proportional
accuracy.
This
gain:
affects
the
systems
CONTROL
stiffness
and
High proportional gain will cause resolver feedback
signals to be amplified, and the system will start oscillating.
In this case, it should be kept below that oscillating value.
Integral
gain:
positional
errors
This
allows
the
systems
in
static
position
by
to
compensate
slowing
for
down
the
electronic response time, so that it more closely resembles
the
response of the mechanical components.
Derivative gain:
This adds
damping effects to the system, in
the case where the system is oscillating which may occur at the
end of a move or during a change in velocity.
By increasing the
derivative gain the ringing will be reduced.
Velocity gain:
of the system.
This is used
to affect the overall responsiveness
If the system is overshooting badly or there
is
excessive ringing such that the derivative term is not able
to
adequately compensate, then velocity gain should bekept low
or
can be increased if the system is sluggish.
96
MICRO
COMPUTER
( * • ) = TO TAL PROGRAMMABLE OUTPUT VOLTAGE ( 1 . 2 5
TO 3 0 V O L T S )
C l ■ 1 pF
C2 ** 0 . 1 JiF
M s« M IC R O S W ITC H
Cw C U T T IN G W IR E
Ts - T E N S IO N S P R IN G
P I - POTENTIO M ETERS
Ti
-
2N 222
2A (N P N )
50
K.
Ohm.
10X
Figure,4.1 _ Shows a circuit diagram of the Programmable
Voltage Regulator (PVR) circuit»
VD
00
THE
MOTION
CONTROL
V RITE
ONLY
R E G IS T E R
the
motion
control
COMMANDED
POSITION
100
SYSTEM P O S IT IO N ERROR.
Mp
Ev -
SYSTEM V E L O C IT Y ERROR.
Mv
PIP loop block diagram of the KS-DRIVE.
CONTROL
Fig. 4.4
SYSTEM P O S IT IO N CORRECTION
FACTOR.
(COMMANDED V E L O C IT Y )
SYSTEM V E L O C IT Y CORRECTION FACTOR.
THE MOTION
Ep -
CHAPTER 4
4.1.2
THE MOTION
CONTROL
The software for the motion control
The
motion
program which
control
is
carried
out
by
interfaces the CAD database
a
general
control
and WEDM machining
control system which have been listed in APPENDIX 2. It covers
the following main tasks sequentially during its running :
{1}. Reading data from the standard database.
{2}. Calculating for transformation of coordinates and checking
movement limitation.
{3}. Changing absolute distance to motor steps .
{4}.
Calculating machining area and time and constructing the
commands for the motor motion control.
{5}.
Reading indexer commands to and writing indexer commands
from the Input/Output bus of the computer through part of the
program for PC2 3 INDEXER.
Programming the PC2 3 indexer is independent of the programming
language.
This part of the control program is for reading data
from the Output Data Buffer (ODB) and writing indexer commands to
the Input Data Buffer (IDB) at the base address of the indexer.
THE MOTION
CHAPTER 4
The programming structure of the PC23 indexer
CONTROL
consists of 3 main
parts:
(1) Resetting PC23 indexer.
(2) Sending a command character to PC2 3 indexer
(output driver
subroutine).
(3)
Receiving
a
character
from
the indexer
(input
driver
subroutine).
The distance parameter is defined in terms of motor steps. The
linear and rotary distance in millimetres and degrees must be
translated into motor steps; the acceleration and velocity are
defined
in
revolutions/squared
sec.
and
revolutions/sec.
respectively.
It
was
decided
to
start
machining
from
the centre
of
the
workpiece for all the 3D shapes and each point to be machined for
both
end
surfaces
is
referenced
to
the
absolute
zero
point
(centre of the workpiece).
The point
is that the WEDM
machining system
is
a four
axes
movement system which includes two linear axes and two rotary
axes and in this case
way.
all 4 motors should work in a synchronized
Halting execution of the commands until all axes are ready
to move
at almost the
same time
102
is the way
adopted
in this
THE MOTION
CHAPTER 4
CONTROL
control program in order to obtain synchronization.
Basically the original control program is successful. The general
control program developed is just an improvement on the original
one.
The
main
differences
are
(1)
recalculating
the
transformation of coordinates and correcting one transformation
formula,
(2) making the control program suitable to machining
almost any model for WEDM and (3) ruling out the planning of a
practice path for the workpiece to be manipulated for the cutting
wire in the control program because the path planning for die
generation is designed better in CAD stage.
4.2 Transformation of coordinates
If the cutting wire in WEDM
could move freely in space, it would
not be necessary to transform the relative coordinates since the
data
in
the
standard
database
which
describe
the
die
model
geometry provides enough details for the cutting wire to move
directly according to them in order to generate a desired die
(See
a database example in Chapter 3.5 ).
103
r
]F ig .4 .5
n
s
>
*o
*-3
w
WORKPIECE
THE
rep resen tatio n
of th e
MOTION
Shows a d l a q r a m a t l c
m an ip u lato r!
CONTROL
CHAPTER
4
105
THE
. Shows t h e w o r k p ie c e
q lm b alln q p ar t
of
th e
m anip u l a t o r , w h ich shows t h e a n g u l a r c u t t i n g
f a c i l i t y a r o u n d X a n d Y -a x e s ( P i t c h a n d R o T l)
MOTION
F i g . 4 .6
CONTROL
T H E M O TIO N CONTROL
CHAPTER 4
U n fo r tu n a te ly
m ove
to
th e
f r e e ly ,
m ake
so
th e
r e la t iv e
to
w o rk p ie c e
c u ttin g
th e
w o rk p ie c e
th e
is
k e p t
a ro u n d
a n d ,
w o rk p ie c e
b o tto m
is
d ir e c tio n s
e a c h
s p lin e
an d
is
o b ta in e d
Y
in
e it h e r
In
th e
m oved
f ix e d
o b ta in
a x e s
b y
is
to
w ir e .
a lo n g
X
an d
w ay
m ove
c u ttin g
r o t a tio n
th e
o n ly
w ir e
o b ta in e d
th e
d ie
th e
a
t h is
(S e e
in
a
d e s ire d
lin e a r
1 .1 ,
w ay
m a n ip u la tin g
b y
and
d ie
o r
a
th e
th e
w o rk p ie c e
to p
a ro u n d
c a v it y
is
w ay
o f
th e
lin e s
o f
an d
p o in t
w o rk p ie c e
th e
n o t
b a s e
th e
e a c h
c a n
r o t a r y
F ig s .4 .5
t h a t
p o in t on
r o t a tin g
c a s e
c o n ta in in g
F ig .
su ch
t h is
s it u a t io n ,
p la n e
e a c h c o rre s p o n d in g
is
in
4 .6
on
th e
X
an d
in
s u rfa c e
th e
X
)
f o r
and
Y
a x e s .
R e g a rd in g
(X B ,Y B ,a n d
ZB)
o f th e
c o rre s p o n d in g
to p
1)
i t
a re
know n,
g e o m e try
b o tto m
c o o rd in a te s
is
d e s c rib e d
a l= ta n ~ 1 (
p 1 = ta n ~ 1 (
i t s e l f ,
p o in t
(X T ,Y T
an d
o n ce
o f
ZT
th e
e a c h
o r
c le a r ly .
YT~YB )
ZT
.................................... ( 4 . 2 - 1 )
X— ~X— )
106
c o o rd in a te s
s p lin e
a lp h a -1
an d
and
b e ta -
Y
CHAPTER 4
Fig.4.7
THE MOTION CONTROL
Shows
the
transformation
of
the
Y-coordinates for the bottom surface due
to angle alpha in Y-Z plane
THE MOTION CONTROL
CHAPTER 4
¿.a
show*
transformation— of— _thi
T-e o o rd ln a te a
for
tha b o tto a — aurfaca
to anala beta Ip
108
plapt
T H E M O TIO N CONTROL
C H A PTER 4
To
g e n e ra te
is
n o t
th e
to p
and
c o n tr o l
and
B E T A -3
4 .7
s in g le
to
Now
in
in
th e
s u rfa c e
YB
know
f o r
th e
th e
to
a
o f
d ie
th e
a n g le
b o tto m
c o o rd in a te s
a l l
To
be
d ie ,
Y -Z
109
th e
a l l
new
th e
d a ta
w h ic h
g e o m e try .
r o t a t in g
c o o rd in a te s
f o r
a
a lp h a .
s u rfa c e
to
p la n e
to
f o r
X B 1 , Y B 1 , Z B 1 , A L P H A -1 , B E T A -2
c h a n g e s
a lp h a -1
b e tw e e n
i t s
p o s itio n
a n g le .
s ( a l ) ........................................ ( 4 . 2 - 4 )
in
f o r
r e c a lc u la te d .
Z B l= Z B * co
lin e
d a ta
c o o rd in a te s
c o m p e n s a te
s ( a l ) ........................................ ( 4 . 2 - 3 )
a
th e s e
d is p la c e m e n ts ,
d e s ire d
a re
th e
p la n e
a n g le ,
lin e a r
n e e d
k n o w in g
Y B l =Y B * c o
o f
e q u a l
to
o n ly
c h a n g e .
g e n e ra te
by
f o r
r o t a tin g
le n g th
is
Y -Z
p o in t
c o o rd in a te
a f t e r
to
a n y
and
a n g le s
s p lin e
th e
r o t a t in g
YB1
and
o f
w i l l
a n g u la r
n eed s
each
h o w e v e r,
r o t a tio n
o rd e r
show s
W EDM,
s u rfa c e s
s y s te m
o f
th e
to
b o tto m
a c t u a lly
Y
D ue
c o o rd in a te s
th e
The
in
o c c u rrin g
r o ta te d
F ig .
d ie
e n o u g h .
e r r o r s
So
a
th e
to p
and
b o tto m
T H E M O T IO N CONTROL
C H A PTER 4
F i g .4 .8
r o t a tio n
show s
by
RSLT= \J ( Y T - Y B ) 2+ Z T 2 ............................ (
4 .2 -5 )
Z T 1 =ZB1 + R S L T ................................................ (
4 .2 -6 )
th e
sam e
a lp h a l
fro m
c o o rd in a te s
x -z
p la n e .
o f
th e
s in g le
T h e r e fo r e ,
P 2 = t a n - 1 - ^ ^ - ........................................ ( 4 . 2 - 7 )
XB
X T -X B
Z T 1-Z B 1
(J3 = t a n 1 (
XB= L*cos
L=
) ............................ ( 4 . 2 - 8 )
( | 3 2 ) ................................................ ( 4 . 2 - 9 )
XBn
-
cos(P2)
X B l= L * c o s(
............................................ ( 4 . 2 - 1 0 )
P 2 + P 3 ) ............................ ( 4 . 2 - 1 1 )
110
p o in t
a f t e r
CHAPTER 4
X B 1 =XB *
4 .3
F e a tu r e s
T h e
m a in
fe a tu r e
s u ita b le
ru n s
f o r
t h is
m essage
o f th e
on
o f
—
S
th e
M
c o n tr o l
t h is
g e n e ra tin g
c o n tr o l
^
I .................................... ( 4 . 2 - 1 2 )
C O S(0 2 )
program
g e n e ra l
a lm o s t
p ro g ra m ,
c o n tr o l
an y
i t
m o d el
w i l l
p ro g ra m
f o r
p ro m p t
is
W EDM.
E ach
w ith
th e
s c re e n .
PLEASE
W A IT
L O A D IN G
DATA
ENTER
DATABASE
FOR
A
EXAM PLE,
DATABASE
"
F IL E
F IL E
NAME
C :\3 D -M 0 D E L .D A T
NAME:
111
t h a t
"
i t
tim e
is
o n e
fo llo w in g
C H A PTER 4
Th en
one
f o r
W EDM
th e
3D
can
e n te r
w h ic h
m o d el
i t
is .
k in d s
o f
A ft e r
e n te r in g
p ro c e s s
s y s te m
A n o th e r
m a in
on
lin e
s c re e n
a b le
d a ta
f o r
w o rk in g ,
a c c o rd in g ly .
c a n
to
f i l e
in
T h e
a n y
lim it e d
no
3D
m o d e l
to
th e
m a tte r
p re v io u s
d ra w in g
num ber
how
o f
c o m p le x
re s e a rc h
o n ly
12
c r e a te d .
nam e,
and
to
one
th e
s en d
c a r r y
can
th e
o th e r
o f
g e n e ra te
b e
t h a t
d u rin g
n o t
r e la t e d
m a c h in e
is
nam e
is
o b ta in e d
th e
w ir e
d u rin g
th e
f i l e
I t
i t
d a ta b a s e
fe a tu r e
c u ttin g
m a n ip u la to r
in
w e re
a
th e
c o n tr o l
th e
t h a t
B u t
m o d e ls
d a ta b a s e
in te n d e d .
k in d s
sh ap e
to
is
a
fo llo w in g
m a c h in in g .
112
one
p ro g ra m
com m ands
to
b e g in s
th e
W EDM
o u t.
a d ju s t
c o n tr o l
w o rd s ,
c o n tr o l
th e
v o lta g e
p ro g ra m
can
m essag e
a d ju s t
is
le v e l
ru n n in g
th e
d is p la y e d
in
and
v o lta g e
on
th e
THE MOTION CONTROL
CHAPTER 4
1 0 1 «. HACHIH1HG U N E KOR IH IS D1E PROFIIE IS : 11 MINUTES
30.21 SECONOS
RES1 Of THE PROFILE NEEOS KACHINING l i l i Of : ') KIHU1ES M ) 4.S! SECONOS.
U N E FOR IH IS SEGHEIfl 10 BE NANUFACIURtO IS : 9 MINUTES ftt® 11.35 SECONOS.
1 0 1«. MfiCHIHING UREA Of THE OIE IS : 9 í«.3 3 7 n n ,S i> PRESENT IIORKPIECE FEEOfiflTE IS : ECO w , S<*\/nii),
THE « M A C E IN THE C tlIIIN G U1RE IS flPRX. í W L IS .
NON P0IN1 MJHBER 3 IS 6EING IW V flC TU R E D .
PRESS *R' IF UISH 10 CHANCE VOLTAGC IH THE
CUTTING HIRE OR TO TES1 RETRACING FA C ILITY
COMANOS SENT 10 THE PC23 INDEXERS FOR POINT 3 ARE
I U S . I 1 « W . 1 1 « I0714S4 I I 2OS.20S 20 .20 6 2D2S¿72 2IS 21
3OS.O07I 3V.O07I 30-2537 31 30S.0G61 30.0661 30127 31
VS
=
S e ts
V
=
M a in ta in s
D
=
S e ts
I
=
P r e -c a lc u la te s
F o llo w in g
th e
in s ta n ta n e o u s
th e
d is ta n c e
is
c u t tin g
a
m enu
w ir e
sam e
in
v e lo c it y .
v e lo c it y
m o to r
th e
m ove
d is p la y e d
n ee d s
to
be
o f
'V S '
f o r
e a c h
new
m ove.
s te p s .
p r o f ile .
on
th e
c h a n g e d .
113
s c re e n
w h ile
th e
v o lta g e
in
T H E M OTIO N CONTROL
CH A PTER 4
NOW
YOU
CAN
SELECT
NEW
VOLTAGE
FROM
F O L L O W IN G
O P T IO N S
*************************************************
*
*
*
VOLTAGE
VOLTAGE
VOLTAGE
*
*
VOLTAGE
VOLTAGE
1 .....................................................................................................1 . 2 5
2 .....................................................................................................6
3 .....................................................................................................5 . 5
4 .....................................................................................................5
5 .....................................................................................................4 . 5
V
V
V
V
V
O
O
O
O
O
L
L
L
L
L
T
T
T
T
T
S
S
S
S
S
*
*
*
*
*
**************************************************
SELECT
4 . 4
T e s t
x
s m a ll
th e
120
The
mm
s iz e
an y
o f
h o le
c u ttin g
m a c h in in g
P R E S S IN G
KEYS
1 -5
KEY
is
c a r r ie d
d if f e r e n t
is
o u t,
th ic k n e s s e s
d r i ll e d
c o u ld
c e n t r a lly
be
th e
(Z T )
in
a l l
in s e r te d
p o ly s ty re n e
s h o u ld
th e
b e
p ie c e s
re a d y
w o rk p ie c e
th ro u g h
a t
an
o f
and
so
a
t h a t
i n i t i a l
p o s itio n .
u s e d
com pany
c o m p re s s iv e
0 .0 2 5
t e s t
w ir e
p o ly s ty re n e
C h e m ic a l
BY
p r o c e d u r e
B e fo re
120
VOLTAGE
to
c a r r y
lim it e d ,
s tre n g th
o f
3 00
o u t
h a s
th e
a
K N /s q .m
W /m k .
114
t e s ts ,
d e n s ity
and
b o u g h t
o f
th e rm a l
34
fro m
th e
Dow
k g /s q .
m,
c o n d u c tiv ity
o f
T H E M OTIO N CONTROL
C H A PTER 4
F o r
3D
z e ro
d ie
g e n e ra tio n ,
p o s itio n
t r a v e ls ) .
w ith
S e c o n d ly
th e
fra m e s ,
w ir e
ju n c tio n
o f
p ass
th e
th e
X
in
th e
c u ttin g
w ir e
and
can
d ie
be
b e in g
Y
to
o f
and
s h o u ld
m oved
th e
X
Y
b e
o f
is
,
to
t o t a l
k e p t
th e
m a n u a lly
w ir e
fra m e s
a d ju s te d
th e
lin e a r
p a r a lle l
m a n ip u la to r .
to
th e
r o ta r y
p o s itio n e d
in
o th e r
o f
th e
as
w o rd s
n e a r
,
th e
a x e s .
w ir e
c o u ld
is
f i r s t
p la te
c u t tin g
o f
th ro u g h
th e
u s e d
u n it
c e n tre
(m id d le
b a s e
th e
w as
fra m e s
m a in
t h a t
and
w ir e
te n s io n
s w itc h
th e
s u re
Th e
r o ta r y
c u ttin g
a t
th e
m a n ip u la to r
m ovem ent
th e
to
m a k in g
p o s s ib le
Th en
lin e a r
r e fe r e n c e
T h ir d ly
as
o f
th e
th e
n eed s
c e n tr e
to
m a in ta in
s to p
m a c h in e d
b e
i t s
m a c h in in g
o n ce
an y
h o le
c h e c k e d
w o rk p ie c e .
b e fo re h a n d ,
v e r t ic a l
p o s itio n .
th e re b y
p r o te c tin g
in c re a s e
in
th e
so
A
m ic ro
th e
w ir e
th a t
w ire
te n s io n
o c c u rs .
Now
and
one
can
s u p p ly in g
c o m p u te r
w i l l
and
d u rin g
f o r
th e
The
b e g in
th e
d u rin g
t e s t
p o w er
p ro m p t
f o r
o p e ra tio n
a d ju s tin g
fo llo w in g
p ro g ram
th e
to
is
th e
v o lta g e
th e
b y
ru n n in g
th e
g e n e ra l
s e q u e n tia lly .
th e
one
on
r e s u lt
o p e ra tio n
w o rk p ie c e
ca n
p re s s
A t
th e
fe e d
"R "
c o n tr o l
to
sam e
r a t e
p a u s e
to
p ro g ra m
tim e
b e
th e
in p u t,
th e
p ro c e s s
g e n e ra l
c o n tr o l
lin e .
p ro c e s s e d
on
115
th e
b y
WEDM:
th e
l
THE MOTION CONTROL
CHAPTER 4
¡■SEGMENT'
! NUMBER
t1
! --------------i
i
:
2
!
3
:
4
♦
Li”
1
!
6
Î
7
!
8
Î
9
!
10
1
11
!
12
!
13
i
14
:
15
!
16
!
17
!
18
!
19
!
2:0
;
21
;
22
tI
""iT
!
24
|I
■
’L
-I-.—
V,?
!
26
!
.27
i
28
1
jL.aT
;
30
!
31
»t
~i x.
!
33
1
34
!
35
!
3 to
!
37
!
38
!
39
!
40
!
41
MACHI NI NG
i
b e t a “'
i (DeqrAREA
(mm S q . )
I
ees)
I
1097,. 6 5
-5.6538 ! 4„0528
9
3.4570
-4.4486 I 4.3785 :
9
8.2917
-3.3993 1 4.6795
9
8
„4367
-2.4622 ! 5.0017
9
8
.4085
-1.6382 ! 5.3564
- . 8 0 2 0 S ! 5.71,00 i 9 8 . 5 6 2 8
98.1333
6.8755 ! 5.9374
9
8.7304
!
6
.
0
6
1
2
.97393
9
8.4439
!
6
.
0
3
1
5
1„8786
9
8
.4295
!
5
.
9
7
5
6
2.8052
98.5677
3.7075 ! 5.7553
98.2731
4.5966 ! 5.4321
98.3395
5.4608 ! 5.1761
98„4935
6.3225 ! 4.9534
98.0969
7.1475 ! 4.6514
98.7264
7 .9 3 5 8 ! 4 . 2 708
98.5556
8.6875 ! 3.8005
98„5601
9.3805 ï 3.2638
98.1813
10.026 ! 2 .6611
9
8.4717
i
1
.
9
9
2
9
10.591
9
8.5028
!
1
2
8
1
6
11.100
9
8
.5696
{
„
5
1
6
4
6
11.530
9
8
.2881
¡
.
2
9
1
5
6
■
1.1 . 8 7 0
98.4041
1 2 . 1 4 4 ; - I :! 0 8 9
98.6108
1 2 . 3 1 9 ! -:! , '••••6 9 5
98.4419
.i1 2 . 4 1 H ! —2 . 8 4 0 1
932631
1 2 . 2, 87 : - 3 . 7 3 4 3
9
8.2956
:
—
4
6
.
1
4
6
12.265
9
8 „ 2 I 74
!
—
5
.
6Jto
9
12.658
9
?
„9742
!
6
„
9
4
5
8
13.333
98.3861
:i 4 . 1 4 4 1 - 8 . 7 6 4 8
. 54.8515
15.386 !-9 .4 9 1 1
55„0602
.1 6 . 4 9 9 ! - i 0 „ 7 6 0
54- 7787
17.432 !-1 2 „ 2 4 0
i - 13 „ 0 1 4 .
54,6787
18551
54.5108
1 9 „ 5 2 4 !- i 3 . 0 3 3
54.5233
.-12.492
20.011
54.4189
19.504 ¡-1 1 ,7 4 6
54.7221
18.582 i-11„038
55.1192
1 7 .4 5 3 !- i 0 . 4 0 0
54.9387
1 6 . 2 1 4 1- - 9 . 7 7 4 0
ALFA
(Degr
ees )
116
! MACHI N I NG!
TIME
!
!
(
S
e
c
o
n
d
s
)
1
!
!
i
i
!
i
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
i
!
!
!
!
1
!
;
I
!
;
!
:
i
!
1
!
!
!
82.3242
7.38427
7.37187
7.38275
7.38064
7.39221
7.36000
7.40478
7„38329
7.38222
7.39257
7.37048
7.37546
7.38701
7„35726
7„40448
7.39167
7„39200
7.36360
7.38538
7.38771
7 . 3 9 2 72
7.3716 1
7„38031
7.39581
7 „3531.4
7, 569 ~ 4
7.3/218
7.36630
7.3460 7
7.37896
4 . 1 1. 386
4 . 1 2 Q5 j
4 . I0 84 ' i
4.10090
4, , ' . ) S83L
4 . Of e 9 2o
4.08142
4.10415
4.13394
4.12040
!
!
!
!
!
!
i
!
i
!
!
!
!
1
!
!
î
i
!
!
1
!
1
:
!
:
!
î
!
!
>
!
!
!
TOTAL
M. AREA
mm Sq .
109 7 „ 65 6
1 1 9 6 „ 1 13
1294.405
1392.842
1491.25
1 5 8 9 . 8 13
1687.947
1786.677
1885.121
1983„55 1
2082.118
2180.391
2278„731
2377.224
2475„321
2574,048
2672.. 6 0 3
2 7 7 L„ 1 6 3
2 8 6 9 34b
2967.817
3 1.)6 6 „ 3 J 9
31 a 4 . d 6 v
3 2 6 3 . 177
3 3 6 i .. “■ !
3460„192
3 5 - 0 , . to 54
3656:. 8 9 “
3 5 19 3
3653 4 ] j
595 1 „ 85
¿1049. 7 7 1
4 î04„623
4 1 5 9 . . to8 3
4 2 i 4., 4 o 2
4269.14
4 5, 73 . o o 1
4378.175
4432„594
4467.316
4542.435
4597.374
TOTAL
M. T Ï ME
(Sec. )
1
!
!
82.3242 !
89.7085 !
97.0803i
104.463
1 1 1 .843 !
119.236 !
126.596 i
134.0001
141„384i
148.766 i
156. 158 !
163.5291
170,904 !
178.29 1 !
185.649
193„053 !
200.445 !
207.8371
215 200
222.58o1
2 2 9 . 9 7 4 ,!
¡to • . 3 6 6 !
244.738
2 5 2 . 118
259.514
2*6.397
274„267
2 8 L„ 6 3
2 6 9 „ 005*
2 9 6 „ 35:5
303., 7 3 2
307.846
3 1 1 .. 9 7 6
3 !. 6 , 0 8 4
320,, 1 8 5
3 2 4 , 2 ‘3
328363
332,444
336.548
3 4 0 . 6 6 'z
344.803
THE MOTION CONTROL
CHAPTER 4
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
to5
66
67
66
69
71í
71
77.
74
75
7,r,
77
79
B:i
&
83
64
85
8 to
87
88
89
9Q
! 14.810
-9.2145
-8.7102
! 13.257
- a .29 4 1
! 1i .563
! 9.7259
-7.9451
- 7 . ¿870
1 8. 216 /
-6.3061
! 7.2490
-5,2435
! 6.6732
-4.2276
I 6.5036
! 5„7559
-4.3923
-4.5560
1 5.0745
-4.7307
1 4.4030
- 4 . 882.1.
! 3.7532
—5 . 0 5 5 8
1 3.1023
! 2.4622
-5.2288
! 1.8213
-5.412 7
-5.5959
! 1.1636
1 .50418
—5 . 6 5 3 6
-5.5403
!- . 14876
! 8 0 2 0 8
-5.3808
-5.1979
1-1.4320
-4.9576
!-2.. 0 6 1 7
-4.6940
! —2 . 6 6 8 0
- 4 ..3959
!- 3 „ 2 7 3 7
-40748
!- 3 . 8 3 3 0
¡ - 4 ,3689
-3.6854
-3.2505
!-4„8812
!-5.3586
-2.8043
-2.2449
: - 5 . 744to
i-6„016 7
—1 . 5 9 5 0
-1.0475
!- 6 „ 3 9 0 4
i-6 .9 2 1 8
-5 8 0 1 3
12494
1- 7 . 6 0 9 6
„ -.¿6 2 o 9
I- 8 . 4 6 3 5
: - 9 .5 4 7 7
.21470
.25909
i —1 v u 5 5 6
.53854
; --1 1 7 2 8
1- 1 ,7 „ 9 5 2
1.1054
! - 1. 4 „ 1 5 4
:l . " '4 3 9
2 « 3 9 o:. /
1- 1 5 . 3 3 3
,’ - 1 6 . . 4 8 8
3.1065
i- ,7 .o - 9
36934
4.7331
I -:! 8 „ 6 7 5
¡ - 1 9 . 7 0 ; ? ■ d. t.'SA61752
• —2:1.-1.. 6 1 to
6 . 1 9 97
;-21.. 3 0 5
6„0655
i-2 1 .7 4 2
5.8380
1-21.900
5.6122
!- 2 1 . 7 5 2
5.4598
!-21.315
55.0226
55.3180
54.3463
55.0312
54.0815
54.5994
552365
54.8311
79„4623
79.4463
79„5257
79.8058
79.4027
79.4926
79.5870
79.4993
79.5248
79,3050
79.6800
79.5074
79.. 3 9 2 5
79.7044
79.4792
79.6334
79.5592
79.5056
79.5630
79.4364
795968
/ V „ 3 «3 8 7
79.2738
79„6274
¡ ?9,4 5 ¡4
45.6283
4 2 . 2 L4 6
42.3147
4;,:í „ 1 5 6 i
42.4455
42.5239
42.3378
4 2 . 4 217
42.4229
4 2„ 3 ¡ £ 0
405280
42. . .1 2 2 3
425459
42.1838
42.1739
42.4298
117
4.12669
4„14885
4.11347
4.12734
4 . 0 5 6 1 !.
409495
4„14274
4.11233
5.95967
5.95848
5.96442
5.98543
5.95520
5.96195
5 . 9 6 9 O2
5.. 9 6 2 4 5
5.96436
5.94788
5 . 9 7 6 OO
5„96306
5.95443
5„97783
5.96094
5.97250
5.96694
5., 9 6 2 9 2
5.96722
5.95773
5 . 9 6 9 76
5„95265
5,. 9 4 5 5 3
5.97205
595685
3.42212
0 « !661
3 . 1 ,7 3 6 0
3 . !. 6 i 7 :
3.1834i
■J. 1 t i - ¿
3,17534
1.8163
3.. ¡.8 ,1 7 2
3-17385
3.03960
3 . 1,591 7
3.19094
3 » 16378
3„16304
3 . J. 8 2 2 4
:
!
!
¡
:
!
!
:
:
!
¡
!
!
i
;
•
!
!
!
!
¡
!
!
!
!
:
i
!
•
.
.
.
i
:
:
t,
.
:
:
,
.
1
:
!
!
i
4652.396!
4707„714 1
4 762.« 5 6 !
4817.592!
4871.673!
4926.273!
4981. „ 5 0 9 !
5036„34 I
5 1. 1 5 „ 8 0 2 !
5195.249!
5274.775!
5354.58 !
5433.983!
5513., 4 7 6 !
5593,063!
5672.562!
5752.087!
5831.392!
5911.073!
5990.58 !
6 (Jo 9 . 9 7 2 !
6149.677;
6229,157!
6308.79 :
6338.34t i
6467.855 i
6 5 4 7 „ 4 i. to !
6626.854!
to><>6. 4 5 1 !
6785„82 !
6865.094;
6944.72 1i
7©24„173!
/ '-.'to “ „ 8 0 3 •
7 1 1 2 . 0 i to :
7154„33 i
7 1 9t o„ 4 8 7 !
7 ,2 3 S „ 9 3 3 !
728 i „457;
732"? „ 7 9 5 .
7 3 6 6 . 2 1 ■■ í
7408.639!
74 5 0 . 9 5 “ :
7491„485:
■
:■,. to rf !
7576-, 1 5 4 i
/ 6 !. 8 „ 3 3 7 !
766 0 „ 5 1 1 !
7 7 0 2 . 9 4 1. !
348.929
353.078
357.192
361.319
365.375
369.470
373.613
377.725
3 8 3 . to8 5
3 8 9 ,. 6 4 3
395.608
401.593
40 7 .5 4 8
4 1 3 „5 1 0
419.479
4 2 5 . 4 4 .2
431„406
437.354
443.330
449.293
455.248
461„225
4 6 7 . L8 6
473.159
479,126
485.089
4 9 i „056
497.014
502.983
508.936
5 l4 , 8 8 2
52 0 . 8 5 4
526.8¿3
530„235
533.401
536.574
5- . T .. / 7".to
54 2 . 9 1 9
5 4 6 . :¡ 0 9
549„284
„ 4 ,- ti
5 5 5 „ to4 7
558- 8 2 í
5 6 1 . Bto1
565.020
568„211
5 7 1 . 3 75
574„538
577.720
THE MOTION CONTROL
CHAPTER 4
91
92
93
94
95
96
97
98
99
100
101
:i. 0 2
103
104
105
106
107
108
109
1 10
12
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1-19„737
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i-17,786
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¡-12.702
¡-11.782
!-10.890
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i-9.2019
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1-7.0234
!-6„4583
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1-5.6538
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MI N L i T E S
5.4852
5.6549
5.3590
6.1197
6.4697
6.7664
6„8526
6,8816
6.3532
6.7662
6.6318
6.4385
6.2083
5.9410
5.6258
5.2735
4,8729
4.4696
4.0528
0
42.1710
425066
42.4997
42.2055
42.5326
41.9239
4 2 ,. 4 0 8 9
42.5520
42.1442
42.4429
¿12. 2 8 2 0
42.4993
42.2775
42.5080
42.4349
42.3375
42.2728
42.4660
42„3589
1097.65
16282
18799
-r 1 8 7 4 8
16 5 4 1
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18067
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18322
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T 18744
17081
18810
18261
17531
T.
17046
18495
y, 1 7 6 9 2
82 . 3242
7745,. 1 12 1 5 8 0 . 8 8 3
77(57 „ 6 1 8 1 5 8 4 . 0 7,1 1
7 8 3 0 . 1 1.8 i 5 8 7 . 2 5 8
7 8 7 2 .3 2 4 \ 590.424
7 9 1 4 . 8 5 7 i 5 9 3 .6 1 4
7 9 5 6 , , 7 8 J. 1 5 V 6 .. 7 5 8
7999,, 19
I 599,939
6 0 3 . 130
8041„7421
606.291
8083„8861
609.474
8126„3291
8168,, 6 11 ! 6 1 2 . 6 4 5
8211.11 1 i 615.833
619.004
8253.3881
622.192
8295.8961
8338.33
1 625.374
8 3 8 0 , . 668 1 6 2 8 . 5 5
631.720
8422.9411
634.905
8465.406!
638.082
8507„766!
9 6 0 5 ,4 2 2 1 720.406
A R E A 0 F 9 6 0 5 . 4 2 2 mm .. S q r „ N E E D S M A C H I N I N G T I N E
6 (J
mni
AND „ 4 0 6 4 S E C 0 N D S AT THE F"E E D R A T E Gr
118
OF
6 q k . / hi i n ■
TH E M O TIO N CONTROL
CH A PTER 4
4 . 5
C o n c l u s i o n
B ro a d ly
s p e a k in g ,
e s p e c ia lly
p ro g ram
a f t e r
becam e
f le x ib le
th e
to
m o tio n
c o n tr o l
im p ro v e m e n t
s im p le r
s u it
in
la r g e r
on
in
t h is
th e
w as
p re v io u s ,
s tr u c tu r e ,
n u m b ers
c a s e
e a s ie r
o f
s u c c e s s fu l,
th e
to
d if f e r e n t
u s e
c o n tr o l
an d
c o m p le x
m o re
sh ap ed
m o d e ls .
The
m a jo r
p ro b le m s
e n c o u n te re d
d u rin g
th e
m o tio n
c o n tr o l
a re
as
fo llo w s :
LACK
OF
MEMORY:
As
we
d e s ire d
m o d el
s te p
a d o p te d
f o r
s p e c ifie d
b e .
H o w e v e r,
t h is
c a s e
c o m p u te r
o f
a
s te p s
c a n
c a n
be
m em o ry
c o n trib u te d
d e v e lo p
in s u f f ic ie n t
to
tim e s
n o t
b y
an d
m o d e l,
m o re
som e
and
s te p ;
num ber
b e c a u s e
w h ic h
s u f f ic ie n t
to
th e
w h ic h
m em o ry"
b y
know ,
o f
is
th e
g r e a te r
th e
(1 )
to
th e
is
ru n n in g
B A S IC
m o re
w o rk .
125
in
th e
an d
(2 )
th e
o fte n
t h is
o f
r e q u ir e d
in
d is p la y
"
o u t
nu m b er
o f
L a c k
o f
p ro g ra m
c o m p u te r
w i l l
in
re s e a rc h .
i t s e l f
s te p s
lim it e d
m a x im u m
c o n tr o l
th e
s h ap e
is
m em o ry
The
la n g u a g e
g e n e ra te
nu m b er
a d o p te d
c o m p u te r
to
to
a c c u ra te
b e
m eans
le a d s
s o ftw a re
m o re
s te p s
c o n tin u e
d u rin g
t h is
m a c h in e
th e
s te p s
a s s ig n e d
th e
th e
w h ic h
is
a ls o
w as
u s ed
i t s e l f
w ith
m em o ry.
S Y N C H R O N IZ A T IO N :
S y n c h ro n iz a tio n
119
o f
th e
PC2 3
in d e x e rs
is
a n o th e r
CHAPTER 4
p ro b le m ,
m o to r
w h ic h
a x e s
w h ic h
on
m ic ro
tw o
PC23
th e
m o to r
th e
p r o f il e
The
m a in
th e
w e re
a l l
on
b e in g
m e th o d
p r o je c t
to
th a n
c o n tin u o u s
b y
u s in g
a x e s
a n o th e r.
u s e d ,
b o th
in d e x e rs
to
m ove
li k e
m o to r
S y n c h ro n iz a tio n
g lo b a l
m o tio n
As
in
t h is tim e
o f
th r e e
com m and
"G 1 2 3 ",
a p p ro x im a te ly
th e
d e la y
c o u ld c a u s e
p re s e n t
o f
som e
w ith in
re s e a rc h ,
i n i t i a t i n g
in a c c u ra c y
a l l
in
g e n e ra te d .
w as
lo o k
one
d one
w e re
u s e d
m o tio n
is
th r e e
o f
in d e x e rs
a x e s
u n s o lv e d .
in d e x e r
se co n d s
re a d y
a
s t i l l
one
in it ia t e s
150
in
is
in
an
on
to
o b ta in
h a lt
a
s y n c h ro n iz a tio n
e x e c u tio n
s y n c h ro n iz e d
-
o f f
an d
on
m o tio n .
120
o f
com m ands,
w a y ,
-
o f
o f f ,
w h ic h
a
a l l
fo u r
a x e s
a l l
ax e s
u n t i l
m akes
th e
d is c o n tin u o u s
m a c h in e
r a th e r
Chapter 5
RESULTS AND DISCUSSIONS
5.1 Introduction
5.2 Results
5.3 Discussions
5.3.1 Overview
5.3.2 Data exchange between CAD/CAM
5.3.3 From graphic file to no-graphic file
5.3.4 Use of ruled surface
5.3.5 The factors affectting the machining
accuracy
RESULTS AND D IS C U S S IO N
CHAPTER 5
5 . 1
I n t r o d u c t i o n
A ll
th e
re s e a rc h
R o b o tic
p r o je c t
T he
a re
D is c h a rg e
and
c o m p le x
in
a
CAM
3D
e s ta b lis h
f o r
f o r
can
b e
m o re
r e s u lts
o f
in te g r a t io n
I t
n o t
s u ita b le
th e
w o rk p ie c e
m o d el
b e
m a te r ia l
c a r r y in g
n eed s
to
p ro c e s s
in
is
an
th e
T h e
u n d e r
t h a t
o u t
th e
te s ts
be
im m e rs e d
w as
c a r r ie d
p la c e
o f
th e
122
W ire
th e
to
a
is
m a n ip u la to r
in to
o u t
WEDM
a
b y
b e tw e e n
f i l e
to
to
m a c h in e
so
to
AUTO
t h a t
v e r if y
r e a liz e
i t
th e
th e
c o n d itio n s .
h e re
m a c h in e ,
d i e le c t r ic
a
f i l e
in
d e s c rib e d
W EDM
u s in g
th e
p ro g ra m
p ro g ra m
a im
r e a l
th e
E le c t r ic
g ap
in te r f a c e
e x p e rim e n ta l
a
up
n o n -g ra p h ic
e x p e rim e n ts
on
h a rd w a re
t r a n s f e r r in g
c o n tr o l
f in a l
th e
an d
n o n -g ra p h ic
th e
C o n tr o lle d
s u m m in g
th e
s a y ,
d e v e lo p in g
v ia
(1 )
b rid g e
to
p re v io u s
o n e s .
f o r
to
u n d e rta k in g
CAM
m e n tio n e d
f o r
W EDM
an d
w ay
a
C o m p u te r
in c lu d e s
d ra w in g
a
o f
R ll
re s e a rc h .
CAD
h e re
im p ro v in g
(4 )
o f
AUTOCAD
d a ta b a s e
(3 )
e x te n s io n
o r ig in a l
t h a t
in
th e n
u n iv e r s a l,
m u st
s im u la te d
u s e ,
th e
fin d in g
d ra w in g
s ta n d a rd
o f
an
T h e
m o d e l
W EDM,
an d
ab o ve
as
3D
(2 )
th e
w ay
g e n e ra l
is
" E ffe c tiv e n e s s
u n d e rta k e n
c r e a tin g
g ra p h ic
a
as
sam e
M a c h in in g ,
p ro p e r
CAD
s tu d y
f o r
h e re
M a n ip u la to r " [ 1 ] ,
a lm o s t
m a in
te c h n iq u e
d o n e
t i t l e d
P r e c is io n
c o n d itio n s
CAD
re s e a rc h
h o t
an d
s in c e
f lu i d .
w ir e
t o o l
is
T h e
and
a
s te e l
RESULTS AMD D IS C U S S IO N
CHAPTER 5
m a te r ia l
r e s p e c tiv e ly .
Some d i e
m odels
w ith
d iffere n t
com plex
3D s h a p e s
have
been
g en era ted .
The f o l l o w i n g p a g e s
th e ir
cores
show some p h o t o g r a p h s
produced d u rin g th e
of d ie
m odels and
e x p e r i m e n t a l WEDM p r o c e s s .
123
CHAPTER 5
R E S U L T S AND D I S C U S S I O N
PLATE
1 .
D ie
M o d e l
124
an d
I t s
C o re
CHAPTER 5
F ig .
In
F i g . 5 .1
num bers
in
th e
num bers
b rack ets
5 .1
show
show
th e
th e
d im en sio n s
d im en sio n s
d esig n ed
actu ally
and
th e
produced.
The
d i f f e r e n c e betw een th e d im e n s io n s i s due t o t h e s p a rk gap and th e
d iam eter of th e
c u ttin g
w ire
in
WEDM p r o c e s s .
DATA FOR PLATE 1
D iam eter o f
V o ltag e
cu ttin g
su p p lied
C u rren t th ro u g h
to
w ire
cu ttin g
th e
w ire
cu ttin g
W orkpiece f e e d r a t e
(sq.
W orkpiece t h i c k n e s s
S c a le = 1:1
125
= 0.5 8
w ire
mm/min)
mm
= 4 .2 0 V
= 1 .6 A
= 800
= 5 0 mm
CHAPTER
5
PLATE
2.
D ie
M odel
126
and
Its
C o re
CHAPTER 5
F ig.
In
F i g . 5 .2
num bers
in
th e
num bers
b rack ets
5.2
show
show t h e
th e
d im en sio n s
d im en sio n s
d esig n ed
actu ally
and
th e
produced,
The
d i f f e r e n c e betw een th e d im en sio n s i s due t o t h e s p a rk gap and t h e
d iam eter
of
th e
cu ttin g
w ire
in
WEDM p r o c e s s .
DATA FOR PLATE 2
D iam eter o f c u t t i n g
V o ltag e
su p p lied to
w ire = 0.5 8
c u ttin g
C u rren t th rough th e
c u ttin g
W orkpiece f e e d r a t e
(sq.
W orkpiece t h i c k n e s s
S cale = 1 : 1
127
mm
w ire = 4.2 0
w ire = 1.6
m m /min)
= 800
= 5 0 mm
V
A
CHAPTER 5
PLATE
3.
D ie
M odel
and
Its
C o re
CHAPTER
5
DATA
FOR
PLATE
L a g e r
D ie
(1 )
D ia m e te r
o f
2
M o d e l
c u ttin g
V o lta g e
s u p p lie d
C u rre n t
th ro u g h
= 4 .2 0
th e
c u t tin g
w ir e
= 1 .6
th ic k n e s s
D ia m e te r
D ie
=
50
m m /m in )
=
A
800
mm
o f
M o d el
c u ttin g
V o lta g e
s u p p lie d
C u rre n t
th ro u g h
w ir e
=
0 .2 5
mm
to
c u ttin g
w ir e
= 4 .5 0
V
th e
c u ttin g
w ir e
= 0 .9 2
A
W o rk p ie c e
fe e d r a te
W o rk p ie c e
th ic k n e s s
=
(s q .
V
1 :1
S m a ll
S c a le
mm
w ir e
W o rk p ie c e
(2 )
0 .5 8
c u t tin g
fe e d r a te
=
=
to
W o rk p ie c e
S c a le
w ir e
(s q .
=
25
m m /m in )
=
mm
2 :1
129
800
RESULTS
CHAPTER 5
130
AND D I S C U S S I O N
CHAPTER
5
131
CHAPTER
5
PLATE
6.
D ie
M odel
132
and
Its
C o re
CHAPTER
5
PLATE 7 .
D ie
M odel
133
and
Its
C o re
CHAPTER 5
PLATE
8.
D ie
M odel
and
Its
C o re
CHAPTER
5
135
CHAPTER 5
5 . 2
R e s u l t s
F i r s t l y ,
th e
f o r
WEDM
th e
te c h n iq u e
d e v e lo p e d
h a s
to
th e
s u ita b le
Th e
a
o f
sam e
fo r
b e e n
c r e a te
c o n s id e ra tio n s
b e c a u s e
i t s
u s e d
s p e c ia l
fe a tu r e
in
and
s u rfa c e s
w h ic h
be
to
is
th e
le n g th
c o m p u te r
A ls o
fo u r
can
c o n v e n ie n tly
t h is
th e
th e
on
o f
sh ap e
w ith
e a c h
s u ita b le
r e q u ir e d
be
s e t
as
o th e r
AUTOCAD
th e
th e
on
e a c h
n u m b ers
R II ,
c o m p u te r
In
a l l
s c re e n
3D
n o t
be
w ir e
is
d if f e r e n t
r u le d
as
2 .
m o d e ls
T h e s e
b y
th e
W EDM.
f o r
a
th e
m e m o ry
can
60
3D
b e
t h e ir
d ie
can
ch o sen
,
an y
o f
th e
p re v io u s
r e la t e d
o n ly
d iv id e d
an d
d ra w in g
w ith
sh ap e
c a n
th e
8 0 ,
to p
one
d ie
m o d e l
1 0 0 ,
f ix e d
CHAPTER
lo n g
la r g e .
c u t tin g
a
a c c u ra c y
as
w ith
u s e fu l
m ay
d if f e r e n t
d e s ir e d
r e q u ir e d
m e th o d
v e ry
w ay
m any
f i n a l l y
m a c h in in g
s u b d iv is io n
d if f e r e n t
in
an d
is
th e
w ith
m any
d e s c rib e d
f o r
o f
d ie
fo rm
T h e
CAM.
p a th
a
d ra w in g
c o m b in e d
T h is
( O u t le t ) ,
to
is
d if f e r e n t
and
th e
s h a p e d
d e s c rib e d .
a
F o r
3D
d ra w in g
in
CAD
c a s e .
d e s ig n e d
as
fe a tu r e s .
im ita t e
s u f f ic ie n t ly
f ix e d
w ith
to
c o m p le x
m o d e l
c re a te d
te c h n ig u e
th e
is
r e s e a r c h [ l] ,
in to
th e
m o st
to
3D
b o tto m
be
co m p ared
A c c o rd in g
s te p
fix e d
c o u ld
a c c o rd in g
th e n
a
th e
in te g r a t io n
s u rfa c e
a
d e v e lo p e d
d ra w in g
th e
c r e a tin g
m a c h in in g
r u le d
( In le t )
f o r
b e
4 0 .
can
r e a l
b e
c re a te d
d im e n s io n s
CHAPTER 5
r a th e r
th a n
u s in g
a
s p e c ifie d
u n it
d im e n s io n
as
in
th e
p re v io u s
r e s e a r c h .
A d d it io n a lly ,
b e
o b ta in e d
S e c o n d ly ,
v e ry
a
b e c a u s e
in
d if f e r e n t
te c h n iq u e
in
an d
f o r
th e
th e
w o rld ,
In
t h is
th e
w o rk
a
F o r
DXF
g ap
th e o ry
fo r
s o ftw a re
o f
CAD
s o ftw a re
is
r e q u ir e d
w o rk
t h is
th e m
IG E S
to
e x tr a c tin g
in te r f a c e
in
a re
is
fe w .
CAM
v e ry
f o r
a
w as
s o lv e d
AUTOCAD
in
to
in
f i l e s
b e e n
c a n
CAM
and
a ls o
a p p e a rs
o f
CAD
be
and
d e v e lo p e d
ru n in
d if f e r e n t
on th e
p r a c t ic a l
th o u g h som e
d e v e lo p e d
to
to
CAM a r e
m a te r ia ls
b e en
e a s ily
AUTOCAD.
in te g r a t io n
CAD
b u y .
an d
s o ftw a re
th ro u g h o u t
F u rth e rm o re
p o s tp ro c e s s in g
p r o je c t.
tw o
w a y s ,
(1 )
n o n -g ra p h ic
w ith
a d o p te d
h a v e
an d
e x p e n s iv e
s p e c ific
m o d e l
th e
E ven
h a s
n o n -g ra p h ic
p ro g ram m
d ie
p e r-p ro c e s s in g
n o n -g ra p h ic
th e
o f
p u b lis h e d
and
is
to
th e y
t r a n s fe r r in g
m e th o d
d ra w in g s
to
p ro b le m
d ra w in g s
i t
a
CAD
r e la t e d
an d
o f
w ith in
b e tw e e n
p r o je c t
c a s e s ,
s iz e
com m and
A d d it io n a lly ,
a p p ly
s m a lle r
e n v iro n m e n ts
to
c o m p a rin g
(2 )
an y
m o st
t h is
g ra p h ic
g ra p h ic
th e
in te g r a t io n
o f
o rd e r
SCALE
in
e n v iro n m e n ts .
in
th e
b r id g in g
im p o rta n t
lo t
o r
u s in g
CAM
a
la r g e r
DXF
t h is
f i l e s
f i l e s .
to
(B y
t r a n s f e r r in g ,
re s e a rc h
w ith
T r a n s fe r r in g
AUTO
a
d e v e lo p e d
to
DXF
t r a n s fe r
C A D ).
s ta n d a rd
f o r
t h is
d a ta b a s e ,
p u rp o s e .
CHAPTER 5
I t
is
s p e c ia lly
WEDM
w ay
to
a
e s ta b lis h
b rid g e
T h ir d ly ,
[1 ]
th e
h a v e
a g a in
g e n e ra l
is
m o d el
h a v e
u s e d
in
th e
r e s u lts
p ro v e d
t h a t
o f
p ro g ra m
o f
th e
Now
i t
d ie
h a s ,
d ie
can
d e v e lo p e d
o f
3D
can
in
t h is
is
t h is
b e in g
te c h n iq u e
t h a t
b e e n
t h is
p ro g ra m
to
fu n c tio n s .
s im p lif ie d ,
an y
k in d
o f
d ie
o p e ra te .
u n d e rta k e n
c r e a tin g
t h is
p r o je c t
d ra w in g s ,
,
p ro g ra m
CAM
in
3D
d a ta
and
h as
DXF
a re
f o r
th e
in te r f a c e
s u c c e s s fu l.
WEDM
in
t h is
r e a liz e d .
c an
e a s ily
in
fo r
r e fe r e n c e
an d
a lm o s t
e a s ie r
ir r e s p e c tiv e
d ra w in g
m o re
CAD
in
c o n s id e ra b ly
c o n tr o l
o f
u s e ,
c o n tr o l
s tr u c tu r e
e x tr a c tin g
im p r o v e d
h as
o f
m o d e ls
b u i l t .
f o r
e x p e rim e n t
in te g r a t io n
b e
now
th e
and
m o d el
is
d ie
g e n e ra l
T h e
m a in
3D
p r e v io u s ly
w o rk .
s u ita b le
and
be
u s e d
i t s
p ro g ra m
fro m
f o r
can
as
th e
seen
CAM
w e ll
c o n d itio n s
b een
it s
m o d el
as
d a ta b a s e
r e la t in g
and
d a ta
d e v ic e s
in
d e v e lo p e d
a im
and
c o n tr o l
u n iv e r s a l
m e th o d
The
im p ro v e d
WEDM
e x t r a c t
and
u sed
m o re
L a s tly ,
CAD
b e e n
The
to
s ta n d a rd
h a rd w a re
b een
new
a
b e tw e e n
h o w e v e r
i t
d e s ig n e d
b e
o f
m o re
g e n e ra te d
p r o je c t.
138
how
c o m p le x
e a s ily
u s in g
a
c r e a te d
th e
sh a p e
an d
a
it s
te c h n iq u e s
CHAPTER 5
5 . 3
D i s c u s s i o n
5 . 3 . 1
O v e r v i e w
C A D /C A M
in te g r a t io n
in te g r a tio n
o f
a c t iv i t i e s
w h ic h
m ay
is
a
th r e e
---------
h ig h ly
c o m p le x
d if f e r e n t
d e s ig n ,
p ro b le m
te c h n ic a l
m a n u fa c tu rin g
and
in
d if f e r e n t
S o ftw a re
r e la t e d
to
o r
m o tio n
B A S IC
t h is
w h ile
is
w r itt e n
r e s u lts
in
c a s e
th e
AUTOCAD
in te g r a t io n
o f
C A D /C A M
an d
c o m p o n e n ts
-----------
o fte n
C
e a c h
o f
a
is
w r itt e n
c o n tr o l
in
in c lu d e s
m anagem ent
c o m p u tin g
r e s id e
in
m anagem en t
w h ic h
com pany.
la n g u a g e
a p p e a rin g
o f
in
w h ic h
fe a rs o m e ly
c o m p lic a te d .
T h is
o f
p r o je c t
C A D /C A M ,
c o n tr o lle d
m o d el
th e
d ra w in g s
one
c e n tr a l
(c o m p u te r
5 . 3 . 2
a
and
D a t a
is
is
f o r
in te g r a te d
in te g r a t io n
th e
o f
e x c h a n g e
o f
in
W EDM.
a b o u t
p a r ts
ju s t
o n ly
m a n ip u la to r
s im p lif ie d
In
a c t u a lly
th e
a
s p e c ific
r e la t e d
to
a
In
o th e r
in te g r a t io n
o f
o f
o f
th e
in te g r a tio n
p a r t ic u la r
an d
w o rd s ,
in te g r a t io n
one
3D
t h is
c o m p le x
sh a p e d
p r o je c t
C A D /C A M
C A D /C A M
c o m p u te r
is
b u t
i t
as
w e ll
a
d ie
m uch
in v o lv e s
as
C IM
m a n u fa c tu r in g ).
b e t w e e n
C A D /C A M ,
C A D /C A M
th e
139
k e y
p ro b le m
w h ic h
n e e d s
to
be
CHAPTER 5
s o lv e d
is
p ro b le m
how
h as
s o lu tio n
o th e r
o r
th e
fu tu r e
and
a
a
fo c a l
o f
by
th e
d a ta
ty p e s ,
o f
s tr u c tu r e
e f f ic ie n c y
la r g e r
b e
o f
am ong
and
s u f f e r .
and
c o u n te rp a rts
it s
T h e
d a ta
s y s te m
s o lu tio n
c r e a tin g
a
w h ic h
T h is
T h is
d ir e c t
s to re d
fo rm a t
to
in
a
a
CAM
is
n e u tr a l
is
m o re
g e n e ra l
and
d a ta b a s e
in d e p e n d e n t
s tr u c tu r e
a c ts
am ong
as
s tr u c tu r e
o f
a n y
e x is tin g
an
in te r m e d ia r y
d is s im ila r
d a ta b a s e
s y s te m s .
n e u tr a l
r e q u ir e d
d a ta b a s e
o f
d a ta b a s e
d a ta b a s e
th e m .
s p e c ia l
In
a c c e s s
b y
an y
is
an d
can
o rd e r
th e
som e
is
v e n d o rs '
140
g e n e r a l,
a n y
v e n d o r
be
to
s iz e
sp ee d
o f
b e
b y
v ie w e d
a c h ie v e
to
o f
o f
as
and
n e u tr a l
s lo w e r
s y s te m .
in
g o v e rn e d
m o d e llin g
N a tu r a lly ,
s tr u c tu r e s
su ch
s to r e
th e
th e
fo rm a t.
in flu e n c e d
e n h a n c e m e n ts
T h e re fo re
m u s t
d e f in it io n s
in d e p e n d e n t
c re a te d
CAD
c o m m u n ic a tio n
t h is
v e n d o r 1s
d e n o m in a to r
d a ta b a s e
th e
m o d e llin g
a
s y s te m s .
in d ir e c t .
in d ir e c t
f i l e )
o f
m in im u m
and
o f
s y s te m .
C A D /C A M
and
th e
fro m
C A D /C A M
s te p .
th e
p o in t
s tr u c tu r e
e x is t in g
one
n e u tr a l
C A D /C A M
o n ly
th e
in
p h ilo s o p h y
s tr u c tu r e s
The
d ir e c t ly
b e tw e e n
d ir e c t
t r a n s la t in g
h a n d ,
c a lle d
d a ta
s o lu tio n s :
u s u a lly
th e
(a ls o
tw o
d a ta b a s e
s y s te m ,
a d o p ts
e x c h a n g e
e n t a ils
p ro d u c t
On
to
th e
o f
com m on
g e n e r a lit y ,
a c c e s s
d a ta b a s e
c o m p a ris o n
th e
is
to
CH A PTER
5
141
CHAPTER 5
In d ir e c t
th e
In
t r a n s la t o r
com m on
o u r
b a s e d
p r a c tic e
re s e a rc h
DATABASE
w h ile
th e
CAM
on
s ta n d a rd
d ir e c t
fo rm e r
w as
p ro c e d u re .
n e u tr a l
f i l e
t r a n s la t o r s
a d o p te d
F ig .
a re
w h ic h
5 .3
fo rm a t
show s
a re
s e ld o m
is
CAD
how
now
u s e d .
STANDARD
b o th
s o lu tio n s
w o rk .
5 . 3 . 3
To
F r o m
g r a p h i c
t r a n s fe r
m e th o d s
som e
F ile s ,
th e
b u t
w ith
th e
in
r ig id
a
n u m b er,
s im p le
o n ly
g ra p h ic
IG E S
o f
and
n o - g r a p h i c
d ra w in g
DXF
in
fo rm a ts
a re
DXF
m o st
d o es
fo rm a t.
fo rm a t
is
th o s e
u sed
a v o id
w ith
A ls o
e v e ry
r e la t i v e ly
to
w h ic h
a re
b it s
f o r
t h is
to
n o n -g ra p h ic
a v a ila b le .
AUTOCAD
d a ta
ty p e
to
c h e c k
o f
re a d
p u rp o s e .
142
in
o f
a
o r
f i l e ,
f i l e s
d a ta
lo s s
f i l e
is
tw o
h a v e
In te rc h a n g e
DXF
e n tr y
th ro u g h
r e q u ir e d .
IG E S
D ra w in g
p ro b le m s
th e
e a s y
p ro g ra m
f i l e
AUTOCAD
o f
c o m p u te r
f i n a l l y
t o
c h a r a c t e r is t ic s
IG E S
i t
f i l e
(D X F )
co m p ared
p re s e n te d
id e n t if ie d
b y
a
co d e
a lt e r n a t iv e ly
to
th e
p ic k
o u t
fo rm a t
w as
So
d a ta
th e
DXF
and
u s e
a
CHAPTER 5
5 . 3 . 4
T h e
U s e
o f
r u l e d
c h o ic e
o f
th e
to
n o n -g ra p h ic
In
a
g ra p h ic
r u le d
f i l e s
is
d ra w in g
in fo r m a tio n
su ch
T h e
s e c tio n
h e a d e r
v a r ia b le ;
s u r f a c e
in
as
sn ap
s e ttin g
The
ta b le s
a
m a in
AUTO
th e
s e c tio n
150
v ie w s ,
U C S 's ,
ru n n in g
a p p lic a tio n s
fe a tu r e
th e
c u r r e n t
in
a l l
d im s ty le s
s o ftw a re
and
su ch
v a lu e s
o f
lo t
o f
o f
th e
s y s te m
e v e r y th in g
fro m
w id th .
lin e
d a ta
as
d ra w in g
E N T IT IE S .
c o v e rin g
p o ly lin e
v ie w p o rts ,
c o n s is ts
an d
c u r r e n t
3D
re s e a rc h .
i t
BLOCKS
in
g ra p h ic
t h is
a c t u a lly ,
ite m s
c o v e rs
s ty le s ,
t r a n s f e r
TA B LES,
c o n ta in s
to
to
CAD,
HEADER,
th e
s u rfa c e s
ty p e s ,
r e la t in g
A M E (th e
la y e r s ,
to
t e x t
c u r r e n tly
a d v a n c e d
m o d e llin g
e x te n s io n ).
T he
b lo c k s
s e c tio n
g iv e s
d ra w in g
in c lu d in g
b lo c k
p r e s e t,
and
f u l l
a ls o
a re
com posed,
The
e n t it ie s
in c lu d e d
an y
in
th e
d e t a ils
a t t r ib u t e s ,
d a ta
lin e s ,
s e c tio n
in
c o o rd in a te s
e .g .
f u l l
on
c ir c le s ,
c o v e rs
b lo c k s
d ra w in g
th e
w h e th e r
and
la y e r
b lo c k s
c o n s ta n t,
o f
p o ly lin e s
d e t a ile d
th e
a l l
e n t it ie s
e v e ry th in g
a re
o f
e ls e .
th e
v a r ia b le
w h ic h
th e
o r
b lo c k s
e tc .
A ll
to g e th e r
on
in
w h ic h
e n t it ie s
w ith
th e y
n o t
t h e ir
a p p e a r.
CHAPTER 5
A ls o
,
w hen
lin e ty p e
B u t
r e le v a n t,
and
in
th e
p re s e n t
w h ic h
g e n e ra te
th e
A ls o
f i l e
p o in t
is
t h a t
c lo c k w is e
th e
in
T h e
m a in
T h e re
to
(1)
in d e x e r
th r e e
is
m o to r
com m and
th e
in
m in d
th e
e n t it ie s '
th ic k n e s s ,
u s in g
m a in
WEDM
s y s te m :
s t i l l
a x e s
"G 1 2 3 ",
n o t
u n d e r
w h ic h
d a ta b a s e .
a b o u t
c h o se n
b e c a u s e
i t
in
to
t r a n s f e r r in g
be
th e
g e o m e try
s ta n d a rd
t h e
r e le v a n t
o rd e r
t r a n s f e r
d ra w in g
s e q u e n tia lly
re p re s e n ts
m a c h i n i n g
th e
to
th e
DXF
to
e it h e r
o rd e r
o f
w as
to
a c c u r a c y
p ro d u c e
in flu e n c in g
p ro b le m
o ne
th e
know
a d v is a b le
fa c to r s
e n t ir e ly
on
to
n o t
re s e a rc h
T h e
n e e d
o p e ra tio n .
a f f e c t i n g
t h is
is
m u st
m a c h in in g
o f
o n ly
I t
c o u n te rc lo c k w is e
s e v e r a l
C o n tro l
on
d e s c rib e
e n t it ie s
f a c t o r s
p ro d u c tio n
to
b e a r
th e
p u rp o s e
a re
g iv e n
we
W EDM.
d ra w in g
5 . 3 . 5
T he
o r
c a s e ,
a c c u r a te ly
d ie
g ra p h ic
a
is
c o lo u r.
E n t it ie s
w h o le
d a ta
o f
in it ia t e s
is
a l l
p r e c is e
p r e c is io n
d ie .
o f
d ie
c o n d itio n s .
s o lv e d .
in d e x e r
th e
a
F o r
PC 23
th e
s y n c h r o n iz a tio n ,
a c h ie v e d
th r e e
o f
b y
u s in g
m o to r
a x e s
a
th e
g lo b a l
m o tio n
CHAPTER 5
re s e a rc h
w ith in
tw o
i n i t i a t i n g
a l l
in a c c u ra c y
in
In
f a c t ,
PC2 3
th e
b y
FUNAC
m o to r
p r o f il e
p ro b le m
c o n tr o l
s a t is f a c t o r ily .
in
4
in
o f
a re
a x e s
to
o f
T h e
Com pany
seco n d s
in d e x e rs
4
th e
th e
c o o rd in a te d
0 .0 0 1 5
on
be
th e
J a p a n
a n o th e r.
u s e d ,
b o th
th e
A s
tim e
in d e x e rs
in
t h is
d e la y
w i l l
c a u s e
o f
som e
g e n e ra te d .
e n g in e e rin g
a x e s
o ne
is
v e ry
c o o rd in a te d
c o u ld
o f
a x e s
d i f f i c u l t
c o n tr o l
s o lv e
4
t h is
to
s y s te m
p ro b le m
u n d e r
s o lv e
p ro d u c e d
b u t
i t
is
e x p e n s iv e .
(2 )
M e c h a n ic a l
s y s te m :
c o m p o n e n ts
p ro d u c e d
B a c k la s h e s
in
th e
to
g e a r
som e
(3 )
S te p
lin e s
m o re
(4 )
o r
th e
w ire
3D
to
d e fin e d
T h is
th e
t h is
to
O f
b e
th e
th e
d ie
m a n ip u la to r
m a c h in in g
e r r o r
a c c u ra c y .
o fte n
c a n
b e
e x is t
in
c o m p e n s a te d
.
d is ta n c e
m e n tio n e d
c o u rs e ,
th e
d ir e c tio n
b a c k la s h
p ro g r a m m in g
o f
th e
r o t a r y
d ra w in g
p a s s .
w i l l
a f f e c t
o r
r e f e r s
m o d el
th e
in
b e tw e e n
CHAPTER
s m a lle r
p ro d u c e d ,
th e
b u t
i t
tw o
2
s te p
w i l l
s p lin e
f o r
th e
le n g th ,
o cc u p y
m em o ry.
p o s itio n :
as
b u t
p ro p e r
p re c is e
c o m p u te r
Hom e
b y
a c c u ra c y
a ls o
lin e a r
m o to r,
le n g th :
m o re
w i l l
e it h e r
e x te n d
o f
c u ttin g
th e
box
T h e
As
O r ig in
m e n tio n e d
o f
th e
in
CHAPTER
m a n ip u la to r
4 ,
s y s te m
hom e
p o s itio n
c o o rd in a te s ,
is
a l l
CHAPTER 5
th e
d a ta
o f
3D
re q u ir e d
t h a t
a t
in
f i r s t
B u t
i t
is
o r ig in ,
o f
(5 )
d ie .
g ap
is
can
5 .2
and
F ig .
The
c re a te d
th e
is
be
e s tim a te d
to
D
p lu s
seco n d
ta k in g
ra n g e
th e
e a s y
p ro p e r
to
th e r e
w ay
in
a t
e x a c tly
I t
th e
a
in flu e n c e
w ir e :
is
o r ig in
th e
th e
1 .0 0
a t
a l l
fa c to r s
p ro d u c e d
o ne
b e c a u s e
mm
(
th e
a c c u ra c y
g ap
c o n tr ib u to r y
to
lin e
Am ong
p ro d u c e d ,
mm
to
am end
s e e
b y
th e
F i g .5 .1
,
e n la rg e
can
o r
be
to
c o m p e n s a te
d e te rm in e
o f
a
d ie
th e
e x a c tly
s u p p o s in g
o u t le t
a c t u a lly
e r r o r
t h a t
c ir c le
p ro d u c e d
how
w id e
g ap
is
D ,
w o u ld
c a u s e d
w id th
i t
b e
th e
can
e q u a l
D .
th e
o f
to
c o n d itio n ,
d ia m e te r
th a n
a d v a n ta g e
w ay
f i r s t
p re s e n t
th e
r a th e r
s c a le
0 .0 2 5
one
d ia m e te r
t h a t
is
c u ttin g
m o st
o r ig in .
d ie .
a ls o
d ie
t h a t
p o s itio n e d
p o s itio n
w i l l
th e
is
is ,
th e
d e s ig n e d
B
id e a l
to
th e
fro m
be
to
1 . 5 ) .
AUTOCAD,
g a p ,
an
th e
d is c h a rg e
B,
A
b y
e le c t r ic
g ap
s h o u ld
e r r o r
o f
is
is
o f
p r e c is io n
th e
T h e
p ro d u c e
p ro d u c e d
o f
re fe re n c e d
im p o s s ib le
m a c h in e d
W ith
gap
to
is
w ir e
th e
w id th
b y
o rd e r
k in d
a f fe c t in g
F ig .
c u ttin g
t h is
T he
w ir e
th e
d ra w in g
v i r t u a l l y
so
th e
m o d el
3D
d ra w in g
SCALE
re d u c e
ch o sen
fu n c tio n
a
3D
to
in
in
d ra w in g
m ake
th e
AUTOCAD
in
AUTOCAD,
to
a n y
3D
th e
w ay
b e c a u s e
r e q u ir e d
d ra w in g
a
o f
i t
s iz e .
l i t t l e
CHAPTER 5
s m a lle r
to
d im e n s io n s
a b o v e
3D
c o m p e n s a te
o f
e x a m p le ,
d ra w in g
w o u ld
b e
a
is
a ls o
n eed
f o r
to
(7 )
fe e d r a te ,
c u ttin g
m o d el
s c a le
l i t t l e
be
th e
w i i l
D ,
s e e
in
b e
f a c to r
s m a lle r
g ap
as
t h a t
F i g s . 5 .2
p e rfo rm e d
2 .
in
a s
c a n
1 . 5 .
to
u s e d
r e s u ltin g
to
a c t u a lly
O th e r
c o u rs e ,
o rd e r
th e
r e q u ir e d .
b e
d ia m e te r
and
O f
t h a t
p r e c is e
S = ( D - B ) / D
so
CHAPTER
so
a
w o rk
lo t
o f
d e te rm in e
a
In
th e
m ake
th e
p ro d u c e d
g e t
to
be
e x p e rim e n ts
p ro p e r
s c a le
c u t tin g
w ir e ,
t h a t .
E le c t r ic
c u r r e n t,
w ire
m a c h in in g
t r i a l
f i n a l l y
a
m e n tio n e d
(6 )
By
d ie
e x a c tly
done
v a lu e
a
f o r
be
(8 )
and
it s
m o d el
so
on
v o lta g e
s u p p lie d
m a te r ia l
p r o p e r ty ,
a re
a ls o
m a in
to
th e
(9 )
fa c to r s
d ia m e te r
o f
a f f e c t in g
th e
th e
a c c u ra c y .
and
e r r o r
p ro d u c e d
in
m e th o d ,
t h is
a
w ay .
147
v e ry
good
p r e c is e
d ie
c o u ld
Chapter 6
CONCLUSIONS AND SUGGESTIONS
FOR FUTURE W ORK
6.1
Conclusions
6.2
Suggestions
C H A PTER
6 . 1
In
6
C O N C L U S IO N AND S U G G E S T IO N FO R F U T U R E WORK
C o n c l u s i o n
t h is
th e
re s e a rc h ,
in te g r a t io n
r o b o tic
an
o f
C A D /C A M
m a n ip u la to r
f o r
h as
WEDM
and
b e e n
t h e o r e t ic a l
c a r r ie d
s im u la tio n
w ith
s tu d y
o u t
on
th e
th e
h e lp
to w a rd s
e x is t in g
o f
AUTOCAD
R ll .
T h e
g e o m e tric
W EDM
as
w e ll
a n a ly z e d
f o r
so
WEDM
m e th o d
f o r
be
as
t h a t
o f
o f
th e
th e
to w a rd s
th e
g e n e ra l
o f
th e
by
th e
a
C A D /C A M
in te g r a t io n
DXF
m o d el
m a c h in in g
o f
d a ta b a s e
th e
s h a p e d
c r e a tin g
in te g r a tio n
s ta n d a rd
u s e ;
c o m p le x
te c h n iq u e
th e
e s ta b lis h e d
3D
r e a liz in g
e v a lu a te d ;
now
fe a tu r e s
f o r
3D
in te r f a c e
m o tio n
c o n tr o l
e x p e rim e n t
t h a t
3D
d ra w in g s
fe a tu r e s
d ie
w as
m o d e l
C A D /C A M
d ie
m o d e l
p ro g ra m
p ro g ra m
w e re
d ra w in g
a c h ie v e d .
o f
f o r
The
h a s
been
d ra w in g s
ca n
d e v e lo p e d
h e re
w as
m uch
a ls o
im p ro v e d .
I t
th e
w as
p ro v e d
in te g r a t io n
a c c u r a te ly
th e r e fo r e
1 .
b y
The
d ra w in g
and
be
th e
o f
e f f i c i e n t l y
to
g e n e ra te
u s in g
is
3D
W EDM.
p o s s ib le
c o m p le x
T h e
to
a c h ie v e
s h a p e d
fo llo w in g
d ie
can
c o n c lu d e d :
te c h n iq u e
f o r
C A D /C A M
i t
WEDM
e s ta b lis h e d
to w a rd s
f o r
th e
s u c c e s s fu l.
149
c r e a tin g
in te g r a t io n
3D
c o m p le x
o f
sh ap ed
C A D /C A M
is
CH A PTER 6
2 .
T r a n s fe r r in g
fo rm a t
to
b e
3 .
The
o f
th e
is
3D
m o re
g ra p h ic
c o n v e n ie n t
s u b s e q u e n tly
g e n e ra tio n
c u ttin g
d ra w in g s
th a n
p ro c e s s e d
o f
a
w ir e
r u le d
in
t h a t
by
n o n -g ra p h ic
in
th e
o th e r
s u r fa c e ,
W EDM,
to
is
IG E S
f i l e s
fo rm a t
in
i f
DXF
i t
is
s o ftw a re .
ta k e n
an
as
th e
im p o rta n t
p a th
im ita t io n
f e a tu r e
o f
t h is
p r o j e c t .
4.
W hen
tr a n s fe r r e d ,
e n t it ie s
5.
The
is
v e ry
can
6.
DXF
be
th e
in te r f a c e
s u c c e s s fu l
one
o f
le n g th
fu n c tio n
th e
in
th e
d ie
7 .
F o r
in te g r a t io n
s y s te m
8 .
The
as
r u le d
th e
CAD
o f
and
to
s u rfa c e
fo rm
g e n e ra l
fe a tu r e s
o f
d a ta b a s e
and
f o r
a d v is a b le
e x tr a c tin g
p r o p e r ly
w is e ly
is
r e le v a n t
a v a ila b le
As
s te p
o f
i t
p ro g ra m
o f
ch o o s e
(th e
s e q u e n tia lly
s p lin e s
d e v e lo p e d
d a ta b a s e
o f
th e
h e re
o b ta in e d
in
th e
d i e ) .
f o r
WEDM
t h is
w ay
s e t tin g
th e
u s e .
in te g r a t io n
o f
m a k in g
o f
s ta g e
u s e
c o u ld
g r e a t ly
C A D /C A M ,
th e
o f f s e t
im p ro v e
o r
s c a le
th e
a c c u ra c y
n e u tr a l
s ta n d a rd
g e n e ra te d .
s h o u ld
a
be
am ong
e s ta b lis h e d
p r a c t ic a l
g e n e ra l
d if f e r e n t
c o n tr o l
as
s y s te m s ,
a
b rid g e
a
to
c o n n e c t
e a c h
o th e r
m e th o d .
p ro g ram
im p ro v e d
150
h e re
is
m o re
f le x i b le
and
C H A PTER 6
m o re
In
e a s y
one
can
u s e
w o rd s ,
be
6 . 2
to
e x c e p t
d ir e c t ly
r e la t e
WEDM
th e
to
1.
F o r
The
3 . The
h a s
p re s e n t
by
been
and
th e
R12
AUTOCAD
to
sco p e
c o m p u te r
w ith
R ll
be
f o r
la c k s
th e
ab o ve
p r e s e n t
o f
th e s e
n o t
b e e n
th e
som e
c u ttin g
h a v e
f o r
b een
in v e s tig a te d
w o rk .
The
w o rk :
is
3D
w h ic h
C A D /C A M
p re s e n t
f u r t h e r
i t
o f
w o rk
b e t t e r
c o m p le x
b a s ic
w ire
to
u s e
s h ap e d
th e
m o d el
fu n c tio n s .
e x a c tly
a t
th e
hom e
in v e s tig a te d .
c o n n e c te d
m o re
o f
c r e a tin g
p o s itio n
to
h a v e
C A D /C A M ,
fo r
th e
in te g r a t io n
o th e rs
th e
o f
in
Som e
s u g g e s tio n s
s t i l l
one
o f
m e n tio n e d
WEDM.
c o n s id e re d
b u t
in te g r a t io n
p ro c e d u re
re p la c e d
w o r k
[ 1 ] .
c o n c lu s io n s
CNC
e x p e rim e n t.
som e
b e c a u s e
p o s itio n
f u r t h e r
tim e
AUTOCAD
d ra w in g
2 .
a re
th e
r e a l
th o ro u g h ly ,
th e
u p d a te d
to
r e fe r e n c e
a l l
e ffe c tiv e n e s s
lim it e d
fo llo w in g
8,
in
a
h a v e
s im u la tio n
in v e s tig a te d
one
Ite m
f o r
a s p e c ts
to
th e
a p p lie d
S u g g e s t i o n s
S e v e ra l
due
th a n
w ith
m em o ry.
151
th e
m a n ip u la to r
n e e d s
to
be
C O N C L U S IO N AND S U G G E S T IO N F O R F U T U R E WORK
C H A PTER 6
4.
T h e c o n t r o l p r o g r a m d e v e l o p e d i n BA SIC s h o u l d b e w r i t t e n
in
C
lan g u ag e.
5.
It
is
tim e
now
to
apply
th e
resu lts
o b tain ed
here
to
real
WEDM.
6.
B e c a u s e m o s t a d v a n c e d WEDM a r e
CNC m a c h i n e s ,
it
to
develop
and
research
in teg ratio n
7.
P a r t
som e
o f
o th e r
a new c o n t r o l
of
th e
program
CAD a n d CAM f o r
r e s u lts
p r o j e c t s
o b ta in e d
r e la te d
to
carry
out
CNC
WEDM m a c h i n e .
h e re
c o u ld
th e
152
p o s s ib ly
in te g r a tio n
o f
is
b e
su g g ested
on t h e
a p p lie d
CAD/CAM
o r
to
CIM.
C O N C L U S IO N AND S U G G E S T IO N
C H A PTER 6
FO R F U T U R E WORK
REFERENCES
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C U T T IN G " ,
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H .
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1 9 7 9 .
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B E N E F IT S
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M a rch
FROM
IM P R O V E D
1 9 7 8 .
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N o . 2
P . 5 8 - 6 3 .
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EDM ",
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I . ,
" W IR E EDM I S
M A K IN G I T ' S
M O VE",
M a c h in e ry
an d P ro d u c tio n
E ng.
J u ly
1 9 7 8 ,
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N o . 3 4 1 8 ,
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p . 7 2 - 7 3 .
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1 0 .
FO R F U TU R E WORK
S a i t o ,
N.
" R E C E N T EDM T E C H N IQ U E S I N
JA P A N ",
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S o c ie ty
o f P r e c is io n
E n g in e e rin g ,
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N o . 2,
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1 1 .
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G ro o v e r,
" C A D /C A M :
COMPUTER
C O M P U TE R A ID E D M A N U F A C T U R IN G " ,
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F .
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C ity
U n iv e r s ity .
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1 9 8 6 .
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" T H E R O L E O F C A D /C A M I N
C IM " ,
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M c G ra w -H ill B ook C om pany 1 9 8 7 ,
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15.
L
C
C
C
(
and
A I , H . Y .,
"C O M
URVED SH A PE S",
o m p u te r in
E n g
o m p u te rs
in
E n
p . 1 8 3 - 1 8 8 ) .
B u rn e tt,
P U T E R -A ID E D
P .
A ID E D
D E S IG N
U .S .A .
" C A D /C A M
D E S IG N
AND
IN
AND
P R A C T IC E " ,
M A N U F A C T U R IN G
in e e rin g ,
P ro c e e d in g
o f
g in e e rin g .
C o n fe re n c e
New Y o rk ,
ACME 1 9 8 7 .
OF
In t e r n a t io n a l
and
E x h ib itio n
16.
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A SOFTW ARE PACKAG E A ID IN G
T H E M A N U F A C T U R IN G
M A C H IN E T O O L S " ,
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T e c h n o lo g y
1988 v o l . l .
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G i t t o ,
P.
" D IR E C T N U M E R IC A L
W IT H C A D /C A M " .
1 9 8 9 ,
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1 8 .
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G.W.
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19.
B e s a n t,
C .B
& C r a i g , D . P . ,
" TH E USE O F IN T E R A C T IV E CAD
T E C H N IQ U E S A N D M A C H IN IN G
IN
M O U LD D E S IG N A N D M A N U F A C T U R E " ,
P ro c e e d in g
o f 1 8 th
in t e r n a t io n a l MTDR C o n fe re n c e ,
1 9 7 7 .
CONTROL
(D N C )
W IT H
IN T E R F A C IN G
M A C H IN E
TO O L",
P. 1 3 2 - 1 4 8 .
20 .
P a k e , H . A .,
" M IC R O P R O C E S S O R S
IN
C O M P U TE R A ID E D
C O M P U TE R A ID E D M A N U F A C T U R E " ,
P H .D T h e s i s ,
U n iv e r s ity
o f L o n d o n .
1 9 8 1 .
D E S IG N
AND
21 .
K h u rm i,
S . K . ,
"C O M P U T E R A ID E D D E S IG N A N D M A N U F A C T U R E
T H E M IC R O P R O C E S S O R " ,
T h e s is ,
U n iv e r s ity
o f L o n d o n .
1 9 8 2 .
P H .D .
AND
154
NC
C H A PTER 6
2 2 .
E ic h n e r,
D.
M A T H E M A T IC S
"A N
W IT H
C O M .IN D .E N G .
2 3 .
H a rrin g to n .
In d u s t r ia l
E N H A N C E D M IC R O
G R A P H IC S " ,
1 9 8 6 ,
VOL
1 1 ( 1 - 4 )
J . ,
"C O M PU TER
P re s s
( 1 9 7 3 ) .
FOR F U T U R E WORK
COMPUTER
PROGRAM
IN T E G R A T E D
M A N U F A C T U R IN G " ,
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L e in in g e r ,
J .A .
PATH TO C A M ",
25 .
" N U M E R IC A L C O N T R O L P R O G R A M M IN G V I A
COMPUTER
G e n e ra l M o to rs
In s t i t u t e .
U .S .A .
1 9 9 0 .
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W a ta n a b e , T . &
TO A COM PUTER
A p p lic a tio n
o f
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2 7 .
B e rn a rd ,
A .,
IN
N U M E R IC A L
SOFTW ARE FOR
1985 .
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29.
30.
3 1 .
"A U TO C A D
AUTODESK
"G E N E R A L E L E C T R IC /E V E N D A L E
U .S .A .
1 9 8 8 .
m in i
c o m p u te rs ,
9 - 1 2
N o v.
"C O M P U TER
A ID E D
C O N TR O L",
D IS C R E E T
P R O G R A M M IN G
M A N U F A C T U R IN G .
O P E R A T O R 'S
3 3 .
3 4 .
GENERAL CATALOG OF
C O N TR O L",
1 9 8 7 ,
AS
A
G R A P H IC S " ,
OF
029
COMPLEX
MANUAL"
D iv is io n ,
AUTOCAD
USA.
,
" T H E N C P R O G R A M M E R ------------------ O p e r a t o r ' s
NC M ic r o p r o d u c ts , I n c .
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155
P A R IS
1
8 8 - 0 0 7 0 4 2 - 0 1 4
D iv is io n .
USA.
"C O M P U M O T O R P R O G R A M M A B L E M O T IO N
P a r k e r -H a n n ifin C o rp o ra tio n .
"K S D R IV E U SE R G U ID E " ,
P a rk e r H a n n ifin
C o rp o ra tio n .
SHAPES
P . 6 6 - 7 5 .
P ilk in g to n ,
R .D .
"A SECOND COMPLETE
1 9 9 2 ,
U .K .
IS B N
0 - 1 3 - 7 9 6 9 8 8 - 0
K S -D R IV E
B U L L E T IN O M -8 2 0 0 -K S -D R IV E P / N :
C o rp o ra tio n ,
C o m p u m o to r
3 2 .
DNC
1 9 8 1 .
CON.
"C O M PU M O TO R
O P E R A T O R 'S M A N U A L " ,
P C -2 3 ,
P /N :
8 8 - 0 0 7 0 1 5 - 0 3
C o rp o ra tio n ,
C o m p u m o to r
"C O M PU M O TO R
USES
"A N A P P L IC A T IO N O F A M IN I-C O M P U T E R
C O N T R O L S Y S T E M O F A M A C H IN E T O O L " ,
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1990
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H i l l A . E . &
D A TA B O O K ",
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P . 4 5 4 - 4 5 8 .
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Iw a i S .,
N U M E R IC A L
FOR
USA.
M a n u a l" ,
N C 7 0 7 -0 0 1 ,
P /N
USA.
1987
8 8 - 0 0 7 0 1 6 - 0 3
Y.
C HAPTER
C O N C L U S IO N AND S U G G E S T IO N F O R F U T U R E WORK
6
35.
"GW-BASIC INTERPRETER U S E R ' S REFERENCE"
A m erican R e s e a rc h C o r p o r a tio n .
1988
36.
Perry,
London,
G.
» QBASIC BY EXAMPLE",
1 9 9 2 . IS BN 0 - 8 8 0 0 2 2 - 8 1 1 - 3 .
156
A P P E N D IX
1.
A DXF F I L E
FROM A 3D G R A P H IC
T h e f o l l o w i n g i s A DXF f i l e f r o m 3D f i l e i n F i g . 2 . 8 o r
w h i c e t h e DXF f i l e s t r u c t u r e a n d f e a t u r e s c a n b e s e e n .
64
0
SECTION
2
ENTITIES
0
POLYLINE
8
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1
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71
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30
0.0
0
V ER TEX
8
SS
10
-6.68
20
-6.17
30
0.0
70
64
0
V ER TEX
8
SS
10
-6.0
20
-5.5
30
0.0
70
64
0
V ER TEX
8
SS
10
- 5 .1 5
20
- 5 .0 5
30
0.0
70
64
0
VER TEX
8
SS
10
- 4 .2 1
20
- 4 .8 7
30
0.0
70
AI.9
64
0
V ER TEX
8
SS
10
-3.26
20
-4.97
30
0.0
70
64
0
V ER TEX
8
SS
10
-2.37
20
-5.34
30
0.0
70
64
0
VER TEX
8
SS
10
-1.64
20
-5.95
30
0.0
70
64
0
V ER TEX
8
SS
10
-1.04
20
-6.7
30
0.0
70
F IL E
0
VERTEX
8
SS
10
-0.48
20
-7 .49
30
0.0
70
64
0
VERTEX
8
SS
10
0.02
20
-8.31
30
0.0
70
64
0
VERTEX
8
SS
10
0.45
20
-9.17
30
0 .0
70
64
0
VERTEX
8
SS
10
0.91
20
-10.0
30
0.0
70
64
0
A P P E N D IX
V ER TEX
8
SS
10
1.56
20
-10.71
30
0.0
70
64
0
V ER TEX
8
SS
10
2 .26
20
-11.37
30
0.0
70
64
0
V ER TEX
8
SS
10
2 .99
20
-11.99
30
0.0
70
64
0
V ER TEX
8
SS
10
3 .77
20
-12.56
30
0.0
70
64
0
V ER TEX
1.
A DXF F I L E
8
SS
10
4 .58
20
-13.07
30
0.0
70
64
0
V ER TEX
8
SS
10
5.43
20
-13.53
30
0.0
70
64
0
VER TEX
8
SS
10
6.3
20
-13.93
30
0.0
70
64
0
V ER TEX
8
SS
10
7.2
20
-14.27
30
0.0
70
64
0
V ER TEX
8
SS
10
8.12
20
-14.55
30
0.0
70
64
0
V ER TEX
8
SS
10
9.06
20
-14.75
30
0.0
70
64
0
V ER TEX
8
SS
10
10.02
20
- 1 4 .84
30
0.0
70
64
0
V ER TEX
8
SS
10
10 . 9 8
20
- 1 4 .81
30
0.0
70
64
0
V ER TEX
8
SS
A I. 10
FROM A 3 D G R A P H IC
10
11.93
20
-14.67
30
0.0
70
64
0
V ER TEX
8
SS
10
-8.78
20
-23.41
30
50. 0
70
64
0
V ER TEX
8
SS
10
-8.09
20
-2 3 .66
30
50.0
70
64
0
VER TEX
8
SS
10
-7.39
20
-23.88
30
50.0
70
64
0
V ER TEX
8
SS
10
F IL E
-6.69
20
-24.09
30
50.0
70
64
0
V ER TEX
8
SS
10
- 5 .9 8
20
- 2 4 .28
30
50.0
70
64
0
V ER TEX
8
SS
10
-5.26
20
-24.44
30
50.0
70
64
0
V ER TEX
8
SS
10
- 4 .5 4
20
- 2 4 .58
30
50 . 0
70
64
0
V ER TEX
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SS
10
- 3 . 82
A P P E N D IX
20
- 2 4 .71
30
50.0
70
64
0
V ER TEX
8
SS
10
- 3 .09
20
-24.81
30
50.0
70
64
0
V ER TEX
8
SS
10
-2.36
20
-24.89
30
50.0
70
64
0
V ER TEX
8
SS
10
- 1 . 63
20
-24.95
30
50.0
70
64
0
V ER TEX
8
SS
10
-0.9
20
A DXF F I L E
1.
30
50 . 0
70
-24.98
30
50.0
70
64
0
8
SS
10
-0.17
20
-25.0
30
50.0
70
64
0
VERTEX
8
SS
10
0.57
20
- 2 4 .99
30
50.0
70
64
0
VERTEX
8
SS
10
1.3
20
-24.97
30
50.0
70
64
0
VERTEX
8
SS
10
2.03
20
-24.92
50.0
70
I
70
64
64
64
VERTEX
FROM A 3D G R A P H IC F I L E
0
0
VERTEX
0
VER TEX
VERTEX
8
8
SS
10
8.47
20
-23.52
30
50.0
70
64
0
8
SS
10
2.76
20
-24.85
30
50.0
70
64
0
VERTEX
VERTEX
8
SS
10
5.65
20
- 2 4 .35
30
50.0
70
64
0
8
SS
10
3 .49
20
- 2 4 .76
30
50.0
70
64
0
VERTEX
VER TEX
8
SS
10
6.37
20
-24.18
30
50.0
70
64
0
8
SS
10
4 .22
20
-24.64
30
50 . 0
70
64
0
VERTEX
VER TEX
8
8
SS
10
4.94
20
- 2 4 .51
30
A I . 11
SS
10
7 .07
20
-23.98
30
50.0
70
64
0
SS
10
7.77
20
- 2 3 .76
30
50.0
VERTEX
8
SS
10
9.15
20
- 2 3 .26
30
50.0
70
64
0
VERTEX
8
SS
10
9 .83
20
-22.99
30
50.0
70
64
0
VERTEX
8
SS
10
10.5
20
-22.69
30
50 . 0
70
A P P E N D IX
64
0
V ER TEX
8
SS
10
11.16
20
- 2 2 .37
30
50.0
70
64
0
V ER TEX
8
SS
10
11.81
20
-22.03
30
50.0
70
64
0
VER TEX
8
SS
10
12.46
20
-21.68
30
50 . 0
70
64
0
V ER TEX
8
SS
10
13 . 0 9
20
-21.3
30
50.0
70
A DXF F I L E
1.
0
VER TEX
8
SS
10
13 . 7 1
20
-20.91
30
50.0
70
64
0
VER TEX
8
SS
10
14.31
20
-20.5
30
50.0
70
64
0
V ER TEX
8
SS
10
14.91
20
-20.07
30
50.0
70
64
0
VER TEX
8
SS
10
15.49
20
-19.62
30
50.0
70
64
SE Q E N D
8
SS
0
E N D SE C
0
EOF
0
A I . 12
F IL E
A P P A N D IX 2
APPENDIX
A G EN ERA L CONTROL PROGRAM
2
A GENERAL CONTROL
1000
1010
1020
1030
1040
1050
1060
1070
1080
1090
PROGRAM
'A * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
' * * * * * * * * * * * * A * G E N E R A L * CONTROL * PROGRAM* * * * * * * * * * * * * * * * * *
**************************************************************
KEY O F F : C L E A R : C L S : S C R E E N I s L O C A T E 1 0 , 1 4 : P R I N T
LOCATE 1 3 , 1 4 : P R I N T " L O A D I N G DATA"
PRINT
LOCATE 1 5 , 1 4 : P R I N T " F o r e x a m p l e , "
PRINT
LOCAT E 1 7 , 1 4 : P R I N T " C : \ 3 d - m o d e l . d a t "
PRINT
L I N E I N P U T "DATABASE f i l e n a m e : " ; F $
OPEN " i " , # 2 , F $
"PLEASE
WAIT"
1100
1110
1120 1=0
1130
1140
1150
1160
1170
1180
1190
1200
1210
1220
1230
1240
1250
1260
1270
1280
1290
1300
1310
1320
1330
1340
1350
1360
1370
1380
1390
1400
1410
1420
1430
1440
1450
1460
1470
1480
DIM X B ( 2 5 0 ) , Y B ( 2 5 0 ) , X T ( 2 5 0 ) , Y T ( 2 5 0 )
I F E O F ( 2 ) THEN N = I : G O T O 1 1 8 0
1=1+1
IN P U T # 2 , X B ( I ) , Y B ( I ) , Z B , X T ( I ) , Y T ( I ) , Z T , AP
GOTO 1 1 4 0
CLO S E # 2 : CLS
P I = 3 . 1 4 1 5 9 2 6 5 4 # : RD = 1 8 0 / P I : DR = P I / 1 8 0
'* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
DIM A L F A 1 ( N + 3 ) , B E T A l ( N + 3 ) , B E T A 2 ( N + 3 ) , B E T A 3 ( N + 3 ) , B E T A 4 ( N + 3 )
DIM X B l ( N + 3 ) , Y B 1 ( N + 3 ) , Z B l ( N + 3 ) , Z T l ( N + 3 ) , R S L T ( N + 3 )
C L S : LOCATE 3 , 1 4 : P R I N T " P L E A S E WA I T "
LOCATE 6 , 3
: P R I N T 'CALCULATING : P I T C H AND ROLL A N G L E S .
LOCATE 8 , 9
: P R I N T ■1.
ROTATING C O - O R D I N A T E S .
LOCATE 1 0 , 9 : P R I N T " 2 .
AND
LOCATE 1 2 , 9 : P R I N T
CHECKING
THAT
EITHER
LOCAT E 1 4 , 9 : P R I N T " 3 .
THESE
ANGLES
ARE
A C H E I V A B L E OR NOT . . . ?
COLOR 1 , 5
******
******
FOLLOWI NG LOOP C L C U L A T E S A L F A , B E T A AND
ROTATIONAL
C O - O R D I N A T E S , AND
CHECKS T H E S E
ACHEIVABLE
ANGLES
I _____________________________
****
****
_,_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
F OR I = 1 TO N + l
A L F A l(I) =
A T N ( ( Y T ( I ) - Y B ( I ) ) / ZT )
B E T A l(I) =
A T N ( ( X T ( I ) - X B ( I ) ) / ZT )
Y B 1 ( I ) = Y B ( I ) * COS(
ABS(ALFA1( I ))
)
Z B 1 (I) = Y B (I) * SIN ( A L F A l(I)
)
R S L T ( I ) = S Q R ( A B S ( ( Y T ( I ) - Y B ( I ) ) * 2 + Z T A2 ) )
Z T 1(I) = Z B 1(I) + R SLT(I)
BETA2( I ) = ATN( Z B 1 ( I ) / X B ( I )
)
BETA3( I ) = ATN( (XT( I ) -X B ( I )) /
( ZT1( I ) -Z B 1 ( I ))
)
BETA4( I ) = BETA2( I ) + BETA3( I )
X B l(I) = X B(I)
* COS( A B S ( B E T A 4 ( I ) )
) / COS( A B S ( BETA2( I ) ) )
I F ZT > 7 2
AND ( A L F A 1 ( I ) * R D ) < - 3 0 THEN B E E P : GOTO 1 6 2 0
1W . P . p r o t e c t i o n f r o m b e i n g i n t o u c h w i t h u p p e r s u p p o r t b a r o f
A2.1
CCffiJHff&HDIX 2
1490
1500
1510
1520
1530
1540
1550
1560
1570
1580
1590
1600
1610
1620
1630
1640
1650
1660
1670
1680
1690
1700
1710
1720
1730
1740
1750
1760
1770
1780
1790
1800
1810
1820
1830
1840
1850
I860
1870
1880
1890
1900
1910
1920
1930
1940
1950
1960
1970
1980
1990
2000
2010
2020
2030
2040
A G EN ERA L
PROGRAM
'W .P . p r o t e c t i o n fr o m b e i n g i n t o u c h w i t h u p p e r s u p p o r t b a r o f m a in beam
I F ZT > 5 0 AND ( A L F A 1 ( I ) * R D ) < ( ( 6 + ( A T N ( 6 0 / Z T ) * R D ) ) - 9 0 ) THEN B E E P : GOTO
1620
' W . P . p r o t e c t i o n f r o m b e i n g i n t o u c h w i t h M x l O HCS H s c r e w .
I F ( Y T ( I ) - Y B ( I ) ) < 0 AND ( A L F A 1 ( I ) * R D ) < ( ( A B S ( ( A T N ( 1 7 . 5 / ( 6 0 + Y B ( I ) ) )
) * R D ) ) —9 0 ) THEN B E E P : GOTO 1 6 2 0
' P r o t e c t i o n o f w i r e b e i n g i n t o u c h w i t h i n n e r f r a m e f o r max . - v e A l f a
IF (ALFA1( I ) *RD) > ( 9 0 - ( ATN( 1 7 . 5 / ( 6 0 - Y B ( I ) ) ) )
) THEN B E E P : GOTO 1 6 2 0
'P r o t e c t io n o f w ir e b e in g in to u c h w ith in n e r fram e fo r max. +ve A lf a
I F ( X T ( I ) - X B ( I ) ) < 0 AND ( B E T A 3 ( I ) * R D ) < - 5 0 TH EN B E E P : GOTO 1 6 7 0
'P r o t e c t io n o f m otor b e in g in to u c h w ith t a b l e
(B a s e ) a t Max. - v e B e t a .
IF (BETA3( I ) *RD) > ( 9 0 - ( ( ATN( 1 7 . 5 / ( 5 0 - X B ( I ) ) ) )
* R D ) ) THEN B E E P i G O T O 1 6 7 0
' P r o t e c t i o n o f w i r e b e i n g i n t o u c h w i t h i n n e r fr a m e a t Max. + v e B e t a .
NE X T I
GOTO 1 7 7 0
CLS
P R I N T " S O R R Y 1 THE P I T C H MOTI ON I S MORE THAN I T I S O F F E R E D BY THE
PRINT"MANIPULATOR.
I T W I L L C A US E THE
W O R K P I E C E EDGE OR C U T T I N G
P R I N T "WI RE TO BE I N TOUCH WI T H THE S T A B L I Z E R ( D R G .
NO. 0 1 B 0 2 ) . ' *
P R I N T : P R I N T : GOTO 6 7 4 0
CLS
P R I N T " S ORRY 1
THE ROLL MOTI ON I S MORE THAN I T I S O F F E R E D BY
THE"
P R I N T "MANIPULATOR.
I T W I L L C A US E THE
CUT TING WIRE I N
TOUCH
WI T H "
P R I N T "THE M A N I P U L A T O R OR MOTOR N O . 4 I N TOUCH WI T H
THE T A B L E ( B A S E ) "
PRINT : PRINT
GOTO 3 5 4 0
• ____________________________________________________________________________________________________
' * * F O L L O W I N G L OOP CHANGE A B S O L U T E D I S T A N C E S TO MOTOR S T E P S A N D *
' * * C O M P E N S A T E S THE B A C K L E S H OF 1 DEGREE I N G . B O X
WI T H MOTOR 3 *
' --------------------------------------------------------------------------------------------------------------------------------------------------------ERASE B E T A 1 , B E T A 2 , B E T A 4 , Z B 1 , Z T 1 , RSLT
DIM M( N + 3 ) , M l ( N + 3 ) , M 2 ( N + 3 ) , M 3 ( N + 3 ) , M 4 ( N + 3 )
C L S : S C R E E N 1 : LOCATE 5 , 1 4 : P R I N T " P L E A S E W A I T "
LOCATE 8 , 1 2
: P R I N T " C H A N G I N G A B S OL U T E "
LOCATE 1 0 , 1 2 : P R I N T " D I S T A N C E TO MOTOR”
LOCATE 1 2 , 1 2 : P R I N T " S T E P S
AND
LOCATE 1 4 , 1 2 : P R I N T " C OM P E N S A T E S
THE
LOCATE 1 6 , 1 2 : P R I N T " B A C K L E S H I N
G.BOX
LOCATE 1 8 , 1 2 : P R I N T "WI TH MOTOR
NO. 3
F OR I = 1 TO N + l
M l( I ) =F I X ( ( 5 0 0 0 /1 . 5) * X B 1 (I))
M 2(I ) =F I X ( ( 5 0 0 0 / 1 .5 )
* Y B 1(I))
M 3(I ) =F I X ( ( ( 1 8 * 5 0 0 0 )/ 3 6 0 ) * ( BETA3( I ) *RD) ) : M 3 ( I ) = -M 3 (I )
M 4( I ) =F IX ( ( ( 1 0 0 * 5 0 0 0 )
/ 360
) * ( A L F A 1 ( I ) * R D ) ) : GOTO
1990
IF I =
1 THEN GOTO 1 9 8 0
IF M (l) < 0
THEN GOTO 1 9 7 0
IF M(1 ) > 0
THEN GOTO 1 9 5 0
I F M ( 1 ) = 0 AND M ( 2 ) < 0 THEN GOTO 1 9 7 0
I F M ( I ) < M ( I - l ) THEN M 3 ( I )
= M (I)
- 250
ELSE M 3 ( I ) = M ( I )
GOTO 1 9 9 0
I F M ( I ) > M ( I - l ) THEN M 3 ( I ) = M ( I )
+ 2 5 0 ELSE M 3 ( I ) = M ( I )
IF I = 1
THEN M 3 ( l ) = M ( l )
NE XT I
LOCATE 2 2 , 5 s GOS UB 5 3 3 0
CLS :
SCREEN 2 s SCREEN 0 , 0 , 0
IN PUT
" I N P U T WO RK P I ECE F E E D R A T E ( M a x .
8 0 0 mm.
S q r . / m in . =";FR
CLS :
S C R E E N 1 : LOCATE 5 , 1 4 : P R I N T " P L E A S E W A I T
"
LOCATE 9 , 8 :
P R I N T ” 1 . CALCULATING INSTANTANEOUS"
A2 . 2
A P P A N D IX
2050
2060
2070
2080
2090
2100
2110
2130
2140
2150
2160
2170
2180
2190
2200
2210
2220
2230
2240
2250
2260
2270
2280
2290
2300
2310
2320
2330
2340
2350
2360
2370
2380
2390
2400
2410
2420
2430
2440
2450
2460
2470
2480
2490
2500
2510
2520
2530
2540
2550
2560
2570
2580
2590
2600
2610
2620
2630
A G EN E R A L CONTROL PROGRAM
2
LOCATE 1 0 , 1 1 : P R I N T "AND
CONS T ANT
VELOCITIES"
LOCATE 1 2 , 1 9 : P R I N T "AND
LOCATE 1 4 , 8 : P R I N T " 2 . C O N S T R U C T I N G CHARACTER"
LOCATE 1 5 , 8 : P R I N T "
COMMANDS
USING
PC23"
LOCATE 1 6 , 8 : P R I N T "
I N D E X E R COMMANDS . "
LOCATE 2 0 , 4 : P R I N T " T H I S I S P O I N T NUMBER
OUT OF"
LOCATE 2 1 , 4 : P R I N T "TOT AL P O I N T S " ; N + 1 ; " ON T H I S
D I E . " 2 1 2 0 COLOR 1 , 5
' ____________________________________________________________________________________________________
' * * F OLLOWI NG L I N E S CAL CULA TE M A C H I N I N G A R E A , M A C H I N I N G T I M E * *
' * * AND C O N S T R U C T S
THE COMMANDS F O R
MOTOR
M OT I ON
CONTROL * *
--------------------------------------------------------------------------------------------------------------------------------------------------------DIM R B ( N + 3 ) , R T ( N + 3 ) , A R E A ( N + 3 ) , T A R E A ( N + 3 ) , X A ( N + 3 ) , Y A ( N + 3 )
DIM A L F A ( N + 3 ) , B E T A ( N + 3 ) , T M ( N + 3 ) , M I N ( N + 3 ) , S E C ( N + 3 )
DIM
CMD$( 4 , N + 3 ) , T I M E ( N + 3 )
F OR I
= 1 TO N + l
R B ( I ) = S Q R ( ( ( X B ( I ) - X B ( I - l ) ) A2 )
+ ( ( Y B ( I ) - Y B ( 1 - 1 ) ) A2 ) )
R T ( I ) = S Q R ( ( ( X T ( I ) - X T ( 1 - 1 ) ) A2 )
+ ( ( Y T ( I ) - Y T ( 1 - 1 ) ) A2 ) )
AREA( I ) = ( ( R B ( I ) + R T ( I ) ) *ZT ) / 2
T A R E A (I) = T A R E A ( I - l ) + AREA( I )
XA( I ) =X B l( I ) - X B l ( I - l )
YA( I ) =Y B 1 (I) - Y B l ( I - l )
ALFA( I ) = ALFA1( I ) -A L F A 1( 1 - 1 )
BETA(I) = BETA3( I ) -B E T A 3( 1 - 1 )
S = S Q R ( X A ( I ) A2 + Y A ( I ) A2 ) : H = A R E A ( I ) / S
TM (I) = S / ( F R /(H *60) )
MIN( I ) = I N T ( T M ( I ) /6 0 )
SEC( I ) = ( ( ( T M ( I ) / 6 0 ) - M I N ( I ) )*60)
LOCATE 2 0 , 2 5 : P R I N T I
RTO = A B S ( Y A ( I ) / X A ( I ) )
VR = ( F R / ( H * 6 0 ) ) * ( 1 / 1 . 5 )
K = M l(I ) : B = 2
IF K
< 0
THEN B = 1
D$
= M ID$(
STR $(K ), B
)
S$
= M ID$(
STR$( 1 ) , 1
)
VX = S Q R ( ( V R A2 ) /
(1+RTCT2))
'TX = A B S ( X A ( I ) ) / ( V X * 1 . 5 ) : PRINT T A B ( 2 0 ) ; T X ;
P = VX : GOSUB 5 4 0 0 : V X $ = M I D $ ( P $ , 1 )
CMD$ ( 1 , 1 ) = S $ + " V S " + V X $ + S $ + " V " + V X $ + S $ + " D " + D $ + S $ + " I "
K = M 2(I ) s B = 2
IF
K < 0 THEN
B =1
D$
= M ID$(
STR$(K ) , B
)
S$
= M ID$(
STR$( 2 ) , 1
)
VY
= VX * RTO
P = VY : GOS UB 5 4 0 0 : V Y $ = M I D $ ( P $ , 1 )
'TY = A B S ( Y A ( I ) ) / ( V Y * 1 . 5 )
: PRINT T A B ( 3 4 ) ; T Y ;
CMD $ ( 2 , 1 ) = S $ + "V S " + V Y $ + S $ + "V " + V Y $ + S $ + " D " + D $ + S $ + " T S " + S $ + " I "
K = M 3(I ) s B = 2
I F K < 0 THEN B = 1
D$
= M ID$(
STR $(K ), B
)
S$
= M ID$(
STR$( 3 ) ,1
)
VB = ( A B S ( B E T A ( I ) ) * 1 8 ) / ( 2 * P I * T M ( I ) )
P = VB : GOS UB 5 4 0 0 : V B $ = M I D $ ( P $ , 1 )
' T B = ( A B S ( B E T A ( I ) * 1 8 ) / ( 2 * P I * V B ) ) *. P R I N T T A B ( 4 8 ) ; T B ;
CMD $ ( 3 , 1 ) = S $ + " V S " + V B $ + S $ + " V " + V B $ + S $ + " D " + D $ + S $ + " I "
K = M4( I ) : B = 2
I F K < 0 THEN B = 1
D$
= M ID$(
STR$(K) , B
)
S$
= M ID$(
STR$( 3 ) ,1
)
A2.3
A P P A N D IX
2
2 6 4 0 VA = ( A B S ( A L F A ( I ) * 1 0 0 ) ) / ( 2 * P I * T M ( I ) )
2 6 5 0 P = V A : GOSUB 5 4 0 0 : V A $ = M I D $ ( P $ , 1 )
: P R I N T T A B ( 6 2 ) ; TA
2 6 6 0 ' T A =(A BS(A L F A (I ) ) * 1 0 0 ) / ( 2*P I*V A )
2 6 7 0 CMD $ ( 4 , 1 ) = S $ + " V S " + V A $ + S $ + " V " + V A $ + S $ + " D " + D $ + S $ + " I "
2 6 8 0 T I M E ( I ) = T I M E ( 1 - 1 ) + TM( I )
2 6 9 0 NEXT I
2 7 0 0 CLS : SCREEN 2 : SCREEN 0 , 0 , 0
2 7 1 0 LOCATE 1 2 , 8
2 7 2 0 P R I N T " P R E S S S P A C E BAR TO D I S P L A Y A L F A , B E T A , M A C H I N I N G T I M E AND A R E A"
2 7 3 0 LOCATE 1 3 , 8
2 7 4 0 PRINT
2 7 5 0 GOSUB 5 3 4 0 : CLS
2 7 6 0 PRINT "
TOTAL
MACHINING i
1 TOTAL
BE T A
¡MACHINING
ALFA
¡
2 7 7 0 P R I N T "1 S E G M E N T ¡
TIME
¡
M . AR EA ¡ M . T I M E
AR EA
2 7 8 0 P R I N T "¡NUMBER ! ( D e g r - ¡ ( D e g r
ees )
mm S q .
I (Sec. )
(mm S q . )
¡ (S econds)¡
2 7 9 0 PRIN T
!
ees)
1
i
. I _________
_______ i ___________ t
2 8 0 0 P R I N T ■i tt
i
1
i
i
1 TO N + l
2 8 1 0 F OR I
A L F A 1 ( I ) * RD : B E T A 3 = B E T A 3 ( I ) *RD
2 8 2 0 ALFA1
: BETA$=MID$( S T R $ ( BETA3) , 1 , 7 )
2 8 3 0 ALFA$=M ID$(STR $(ALFA1), 1 , 7 )
: MT$ = M I D $ ( S T R $ ( T M ( I ) ) , 1 , 8 )
2 8 4 0 AREA$ = M I D $ ( S T R $ ( A R E A ( I ) ) , 1 , 8 )
2 8 5 0 T A R E A $ = M I D $ ( S T R $ ( T A R E A ( I ) ) , 1 , 9 ) : TM$ = M I D $ ( S T R $ ( T I M E ( I ) ) , 1 , 8 )
2 8 6 0 P R IN T ” | " ; TAB( 4 ) ; I ; T A B ( 9 ) ; " \" ; T A B ( 1 0 ) ; ALFA$; TAB( 1 8 ) |" ;T A B (1 9 );B E T A $ ; 2 8 7 0
PRIN T T A B ( 2 7 ) " | " ; T A B ( 2 8 ) ; A R E A $ ; T A B ( 3 8 ) ; " \ " ; T A B ( 3 9 ) ; M T $ ; T A B ( 4 9 ) ; " \ ";
2 8 8 0 PRINT T A B ( 5 0 ) ; TAREA$; T A B ( 5 9 ) " | ” ; T A B ( 6 0 ) ; TM$; T A B ( 6 8 ) ; " | "
2 8 9 0 NE XT I
-----------------------------------------------------------------------------------------------------------------------------------------------2 9 0 0 PRINT
: TTIM = T I M E ( I - l )
2 9 1 0 MIN = I N T ( T I M E ( I - l ) / 6 0 )
2 9 2 0 SEC=( ( (T IM E (I-l)/6 0 )-M IN )* 6 0 ):T A R E A $ = M ID $ (S T R $ (T A R E A (I -l)) , 1 , 9 )
2 9 3 0 TI M $ = S T R $ ( M I N ) +" MINUTES A N D " + M I D $ ( S T R $ ( S E C ) , 1 , 6 ) + " SECONDS"
2 9 4 0 P R I N T T A B ( 7 ) ; " TOTAL A R E A O F " ; T A R E A $ ; " m m . S q r . N E E D S M A C H I N I N G " ;
O F " ; T I M $ ; " AT THE F E E D RATE OF " ; F R ; " mm S q r . / M i n . "
2 9 5 0 P R I N T " TIME
GOS UB
5330
2 9 6 0 PRINT : PRINT
TAB(2 5 )
2 9 7 0 ' E R A S E X B 1 , Y B 1 , M, R B , RT
2 9 8 0 ERASE M
2 9 9 0 S C R E E N 0 , 1 : WI D T H 4 0
3 0 0 0 CL S s LOCATE 2 , 1 3 : P R I N T " P L E A S E 1 MAKE S U RE
3 0 1 0 LOCATE 5 , 8 : P R I N T " 1 . THE M A N I P U L A T O R I S I N RE ADY P O S I T I O N .
IS
IN
RIGHT
POSITION.
3 0 2 0 LOCATE 8 , 8 : P R I N T " 2 . W . C . U .
: P R I N T " 3 . WORKPI E CE
IS
P ROPERLY
HOUSED.
3 0 3 0 LOCATE 1 1 , 8
: P R I N T " 4 . MI CRO S W I TC H I S
P ROPERLY P O S I T I O N E D .
3 0 4 0 LOCATE 1 4 . 8
: P R IN T "5
P V R I S CONNECTED TO THE I N D E X E R # 1 .
3 0 5 0 LOCATE 1 7 . 8
3 0 6 0 COLOR 2 3 , 0 ; LOCAT E 2 2 , 2 , 0
3 0 7 0 P R I N T " P R E S S S P A C E BAR TO S T A R T I N I T I A L I Z A T I O N "
; S C R E E N 1 : COLOR 1 , 5 :
GOS UB 5 5 5 0
3 0 8 0 GOS UB 5 3 4 0
3 0 9 0 SCREEN 2
3100
FOLLOWI NG LOOP
CONTROL THE MOTOR M OT I ON AND
CHECKS
3110 >****
THE T R I G G E R I N P U T FROM ' P V R ' C I R C U I T A F T E R EACH MOVE
3 1 2 0 ■****
_
_____________________________________________
3130 1
3 1 4 0 FOR L = 1 TO N + l
3 1 5 0 ADDRESS% = A D D R E S S 2 %
3 1 6 0 CMD$ = CMD $ ( 4 , L ) : GOSUB 6 9 3 0
3 1 7 0 ADDRESS% = A D D R E S S 1%
3 1 8 0 CMD$ = CMD $ ( 1 , L ) +CMD $ ( 2 , L ) +CMD $ ( 3 , L ) : GOS UB 6 9 3 0
3 1 9 0 CND$ = CMD $ ( 1 , L ) +CMD $ ( 2 , L ) : CD N$ = CMD $ ( 3 , L ) +CMD $ ( 4 , L )
3 2 0 0 GOS UB 3 6 9 0
3 2 1 0 GOS UB 7 2 2 0
A2.4
A P P A N D IX
A G EN E R A L CONTROL PROGRAM
2
3 2 2 0 I F ANSWER$ = " 2 : 0 0 1 0 0 0 " + C H R $ ( 1 3 ) TH EN 3 2 3 0 E L S E 3 2 5 0
3 2 3 0 T T I M = 0 : TEM = 0 : GOSUB 3 7 7 0
3 2 4 0 L = Z : GOTO 3 1 5 0
3 2 5 0 TEM = TEM +
T M ( L ) :TMI = T T I M TEM
3 2 6 0 MIN = I N T ( T M I / 6 0 )
: SEC = ( ( ( T M I / 6 0 ) - M I N ) * 6 0 )
3 2 7 0 T MS $ = S T R $ ( M I N ) + " M I N U T E S A N D " + M I D $ ( S T R $ ( S E C ) , 1 , 6 ) + " S E C O N D S . "
3 2 8 0 TME$ = S T R $ ( M I N ( L ) ) + " M I N U T E S A N D " + M I D $ ( S T R $ ( S E C ( L ) ) , 1 , 6 ) + " S E C O N D S . "
3 2 9 0 LOCATE 3 , 4 7
: P R I N T TMS $
3 3 0 0 LOCATE 4 , 4 7
: P R I N T TME$
3 3 1 0 ADDRESS% = A D D R E S S 2 % : CMD$ = " 3 G " : GOS UB 6 9 3 0 s ADDRES S% = A D D R E S S 1 %
3 3 2 0 CMD$ = " G 1 2 3 "
: GOS UB 6 9 3 0
3 3 3 0 LOCATE 9 , 1 8 : P R I N T "NOW P O I N T N U M B E R " ; L ; " I S B E I N G M A N U F A C T U R E D . "
3 3 4 0 LOCATE 1 8 , 1 2
3 3 5 0 P R I N T "COMMANDS S E N T TO THE P C 2 3 I N D E X E R S F OR P O I N T " ; L ; " ARE
3 3 6 0 LOCATE 2 0 , 1 0
3 3 7 0 PRINT "
3 3 8 0 LOCATE 2 1 , 1 0
3 3 9 0 PRINT "
3 4 0 0 LOCATE 2 0 , 1 0 : P R I N T ; C N D $ : LOCATE 2 1 , 1 0 : P R I N T ; C D N $
3 4 1 0 LOCATE 1 2 , 1 8 : P R I N T " P R E S S ' R ' I F W I S H TO CHANGE VOLTAGE I N THE"
3 4 2 0 LOCATE 1 3 , 1 8 : P R I N T " C U T T I N G WI R E OR TO T E S T R E T R A C I N G F A C I L I T Y "
3 4 3 0 Q$ = I N K E Y $
3 4 4 0 I F Q$ = "R" OR Q$ = " r " THEN GOTO 3 4 5 0 E L S E 3 4 6 0
3 4 5 0 GOSUB 3 6 9 0 : GOS UB 5 7 6 0
3 4 6 0 NE X T L
3 4 7 0 GOSUB 3 6 9 0 : P R I N T : P R I N T : P R I N T
3480 ***************************************************************
3 4 9 0 LOCATE 2 3 , 2 6 : P R I N T " P R E S S S P A C E BAR TO C O N T I N U E . "
3 5 0 0 GOSUB 5 3 4 0
3 5 1 0 ADDRESS% = A D D R E S S 1%
3 5 2 0 CMD$ = " 0 0 0 0 0 0 1 " : GOS UB 6 9 3 0
3 5 3 0 GOTO 3 5 4 0
3 5 4 0 C L S : S C R E E N 1 : P L A Y " ABAB ABC" : LOCAT E 5 , 5
3 5 5 0 P R I N T " P L E A S E J " : LOCATE 8 , 1 0
3 5 6 0 P R I N T "TURN O F F THE POWER S U P P L I E S "
3 5 7 0 LOCATE 1 1 , 1 0 : P R I N T "TO
AL L
THE
EQUIP MENT."
3 5 8 0 LOCATE 1 6 , 2 3
: P R I N T "THANKS"
3 5 9 0 PLAY "A B A B A B A B C D C D C D A D " : FOR DL = 1 TO 1 0 0 0 : N E X T : C L S : L OCATE 1 2 , 3
3 6 0 0 PRINT " E N D
O F
T H E
P R O G R A
M " : F O R DLY = 1 TO 5 0 0 0
3 6 1 0 NEXT DLY
: SCREEN 2 : SCREEN 0 , 0 , 0
: END
3620 ***************************************************************
3630 '*********** E N D
O F
T H E
P R O G R A M
***********
3640 ***************************************************************
3650
3660
3670
3680
3690
3700
3710
3720
3730
3740
3750
3760
3770
3780
3790
' ____________________________________________________________________________________________________
'**
FOLLOWI NG L I N E S
CHECK T H A T , I S THE
COMMANDED MOVE
**
'**
COMPLETED OR N O T . I F Y E S , THEN S T O P A L L
THE MOTORS
**
' --------------------------------------------------------------------------------------------------------------------------------------------------------ADDRESS% = AD D R E S S 1 %
CH = I N P ( A D D R E S S % + 1 )
I F ( CH AND 1 ) + ( CH AND 2 ) + ( CH AND 4 ) = 7 THEN 3 7 2 0
ELSE 3 7 0 0
CMD$ = " I S 2 S 3 S " : GOS UB 6 9 3 0
RETURN
1____________________________________________________________________________________________________
’ * * T H I S S - R O U T I N E RETRACES W . P . T I L L
T r g . I N P U T I S CL EARED * *
' --------------------------------------------------------------------------------------------------------------------------------------------------------GOS UB 3 6 9 0 : CMD$ = C P D $ + " 0 0 0 0 0 X 1 " : GOS UB 6 9 3 0 : C L S
LOCATE 8 , 2 0 : P R I N T " T R I G G E R I N P U T S I G N A L I S E N C OU NTERED
NOW"
LOCATE 1 0 , 2 0 : P R I N T "POWER
SUPPLY
TO THE
CUTTING
WI RE
IS"
A2.5
A P P A N D IX
2
3 8 0 0 LOCATE 1 1 , 2 0 : P R I N T " S T O P E D AND A L L MOTOR M O T I O N S ARE K I L L E D . "
3 8 1 0 P L AY "AGAGAGAGA"
3 8 2 0 FOR Z = ( L - l ) TO 1 S T E P - 1
3830 RB( Z)
= S Q R ( ( ( X B ( Z ) - X B ( Z - l ) ) A2 )
+ ( ( Y B ( Z ) - Y B ( Z —1 ) ) A2 ) )
3840 RT( Z)
= S Q R ( ( ( X T ( Z ) —X T ( Z - l ) ) A2 )
+ ( ( Y T ( Z ) - Y T ( Z - l ) ) A2 ) )
3 8 5 0 AREA( Z ) = ( ( R B ( Z ) + R T ( Z ) ) *ZT ) / 2
3860 X A (Z)
=XB1(Z) - X B l ( Z - l )
3 8 7 0 YA(Z)
=YB1(Z) - Y B l ( Z - l )
3 8 8 0 ALFA( Z ) = A L FA1( Z ) -A L F A 1 ( Z - l )
3 8 9 0 BETA(Z) = B E T A 3( Z ) - B E T A 3 ( Z - l )
3 9 0 0 S = S Q R ( X A ( Z ) A2 + Y A ( Z ) A2 )
s H = A R EA (Z)/S
3 9 1 0 TM(Z) = S /
( F R /(H *60)
)
3 9 2 0 M IN(Z) = I N T ( T M ( Z ) /6 0 )
3 9 3 0 SEC(Z) = ( ( ( T M ( Z ) / 6 0 ) - M I N ( Z ) ) * 6 0 )
3 9 4 0 RTO = A B S ( Y A ( Z ) / X A ( Z ) )
3 9 5 0 VR = ( F R / ( H * 6 0 ) ) * ( 1 / 1 . 5 )
3960 K = M l(Z -l)
s B = 2
3970 IF K
< 0
THEN
B = 1
3 9 8 0 D$ = M I D $ ( S T R $ ( K ) , B )
3 9 9 0 S$ = MID$( S T R $ ( 1 ) , 1 )
4 0 0 0 VX = S Q R ( ( V R A2 ) / ( l + R T O A2 ) )
4 0 1 0 P = VX : GOS UB 5 4 0 0 : V X $ = M I D $ ( P $ , 1 )
4 0 2 0 CMD $ ( 1 , Z ) = S $ + " V S " + V X $ + S $ + " V " + V X $ + S $ + " D " + D $ + S $ + " I "
4 0 3 0 K = M 2 ( Z- 1 )
: B = 2
4 0 4 0 I F K < 0 THEN
B = 1
4 0 5 0 D$ = M I D $ ( S T R $ ( K ) , B )
4 0 6 0 S$ = MID$( S T R $ ( 2 ) , 1 )
4 0 7 0 VY = VX * RTO
4 0 8 0 P = VY s GOS UB 5 4 0 0 s V Y $ = M I D $ ( P $ , 1 )
4 0 9 0 CMD $ ( 2 , Z ) = S $ + " V S " + V Y $ + S $ + " V " + V Y $ + S $ + " D " + D $ + S $ + " T S " + S $ + " I " 4 1 0 0 K = M 3 ( Z - 1 )
s B = 2
4 1 1 0 I F K < 0 THEN B = 1
4 1 2 0 D$ = M I D $ ( S T R $ ( K ) , B )
4 1 3 0 S$ = M ID $( S T R $ ( 3 ) , 1 )
4 1 4 0 VB = ( A B S ( B E T A ( Z ) ) * 1 8 ) / ( 2 * P I * T M ( Z ) )
4 1 5 0 P = VB : GOS UB 5 4 0 0 : V B $ = M I D $ ( P $ , 1 )
4 1 6 0 CMD $ ( 3 , Z ) = S $ + " V S " + V B $ + S $ + " V " + V B $ + S $ + " D " + D $ + S $ + " I "
4 170 K = M 4( Z - l ) : B = 2
4 1 8 0 I F K < 0 THEN B = 1
4 1 9 0 D$ = M I D $ ( S T R $ ( K ) , B )
4 2 0 0 S$ = M ID $( S T R $ ( 3 ) , 1 )
4 2 1 0 VA = ( A B S ( A L F A ( Z ) * 1 0 0 ) ) / ( 2 * P I * T M ( Z ) )
4 2 2 0 P = VA : GOS UB 5 4 0 0 : V A $ = M I D $ ( P $ , 1 )
4 2 3 0 CMD $ ( 4 , Z ) = S $ + " V S " + V A $ + S $ + " V " + V A $ + S $ + " D " + D $ + S $ + " I "
4 2 4 0 CND$=CMD$( 1 , Z ) +CM D$( 2 , Z ) sCDN$=CMD$( 3 , Z ) +C M D $( 4 , Z )
4 2 5 0 ADDRESS% = A D D R E S S 2 % : CMD$ = C M D $ ( 4 , Z )
: GOS UB 6 9 3 0
4 2 6 0 ADDRESS%=ADDRESS1% : CMD$=CMD$( 1 , Z ) + C M D $ ( 2 , Z ) + C M D $ ( 3 , Z )
4 2 7 0 GOSUB 6 9 3 0
4 2 8 0 ' -----------------------------------------------------------------------------------------------------------------------------------------------------4 2 9 0 TME$ = S T R $ ( M I N ( Z ) ) + " M I N U T E S AND " + M I D $ ( S T R $ ( S E C ( Z ) ) , 1 , 6 )
4 3 0 0 LOCATE 1 3 , 2 0
4 3 1 0 P R I N T " T I ME R E Q U I R E D FOR P O I N T N O . " ; Z ; " I S TO BE"
4 3 2 0 LOCATE 1 4 , 2 0
4 3 3 0 P R I N T " R E TRAC ED = " ; TME$ ; " S E C O N D S . "
4 3 4 0 LOCATE 1 8 , 1 3
4 3 5 0 P RI NT" COMMANDS S E N T TO P C 2 3 I N D E X E R S F O R P O I N T N O . " ; Z ; " A R E = "
4 3 6 0 LOCATE 2 0 , 1 0
4 3 7 0 PRINT "
A2.6
A P P A N D IX
4380
4390
4400
4410
4420
4430
4440
4450
4460
4470
4480
4490
4500
4510
4520
4530
4540
4550
4560
4570
4580
4590
4600
4610
4620
4630
4640
4650
4660
4670
4680
4690
4700
4710
4720
4730
4740
4750
4760
4770
4780
4790
4800
4810
4820
4830
4840
4850
4860
4870
4880
4890
4900
4910
4920
4930
4940
4950
A GEN ERA L CONTROL PROGRAM
2
LOCATE 2 1 , 1 0
PRIN T
"
GOSUB 3 6 9 0
LOCATE 2 0 , 1 0 : P R I N T ; C N D $ : L O C A T E 2 1 , 1 0 : P R I N T ; C D N $
ADDRESS% = A D D R E S S 2 % : CMD$ = " 3 G " : GOS UB 6 9 3 0
ADDRESS% = A D D R E S S 1% : CMD$ = " G 1 2 3 " : G O S U B 6 9 3 0
GOSUB 7 2 2 0
I F ANSWER$ = " 2 : 0 0 0 0 0 0 " + C H R $ ( 1 3 ) THEN 4 4 8 0
I F Z = 1 THEN 4 4 8 0
NEXT Z
GOSUB 3 6 9 0 : C L S
P L AY " A B A B C " : LOCATE 1 0 , 2 5 : P R I N T " T R I G G E R I N P U T I S CL EARED N O W . "
LOCATE 1 4 , 1 0
I N P U T " I N P U T NEW WORKPI ECE F E E D R A T E
(M ax.
8 0 0 mmS q . / m i n . = " ; F R
CLS :
S C R E E N 1 : LOCATE 5 , 1 4
:P RIN T " PLEASE
WA I T "
LOCATE 9 , 4 : P R I N T " 1 . C A L C U L A T I N G
NEW
INSTANTANEOUS"
LOCATE 1 0 , 7 : P R I N T "AND C O NS TANT V E L O C I T I E S "
LOCATE 1 2 , 1 8 : P R I N T "AND"
LOCATE 1 4 , 4 : P R I N T ” 2 . C O N S T R U C T I N G CHARACTER COMMANDS"
LOCATE 1 5 , 7 : P R I N T " U S I N G P C 2 3 I N D E X E R COMMAN DS . "
LOCATE 2 0 , 3 : P R I N T " T H I S I S P O I N T NUMBER
OUT
OF"
LOCATE 2 1 , 3 : P R I N T "TOTAL P O I N T S " ; N + 1 ; " ON T H I S S P U R
GEAR."
' ______________________________________________________________________________________________________
' * FOLLOWING S U B R O T I N E CALCULATE NEW M A C H I N I N G T I M E , V E L O C I T I E S * *
' * * * AND C O N S T R U C T S THE COMMANDS
FOR
MOTOR
M OT I ON CONTROL * * *
' ----------------------------------------------------------------------------------------------------------------------------------------------------------FOR Y = Z TO N + l
LOCATE 2 0 , 2 5 : P R I N T Y
S = S Q R ( X A ( Y ) A2 + Y A ( Y ) A2 ) : H = A R E A ( Y ) / S
TM( Y ) = S /
(F R /(H *60))
MIN(Y) = I N T ( T M ( Y ) /6 0 )
SEC(Y) = ( ( ( T M ( Y ) / 6 0 ) - M I N ( Y ) ) * 6 0 )
RTO = A B S ( Y A ( Y ) / X A ( Y ) )
VR = ( F R / ( H * 6 0 ) ) * ( 1 / 1 . 5 )
K = M l (Y ) : B = 2
I F K < 0 THEN B =
1
D$ = M I D $ ( S T R $ ( K ) , B )
S$ = M ID $ ( S T R $ ( 1 ) , 1 )
VX = S Q R ( ( V R A2 ) / ( l + R T O A2 ) )
P = VX : GOS UB 5 4 0 0 : V X $ = M I D $ ( P $ , 1 )
CMD$ ( 1 , Y ) = S $ + " V S " + V X $ + S $ + " V " + V X $ + S $ + ” D " + D $ + S $ + " I "
K = M 2(Y)
: B = 2
I F K < 0 THEN
B = 1
D$ = M I D $ ( S T R $ ( K ) , B )
S$ = MID$( S T R $ ( 2 ) , 1
)
VY = VX * RTO
P = VY : GOS UB 5 4 0 0 : V Y $ = M I D $ ( P $ , 1 )
CMD $ ( 2 , Y ) = S $ + " V S " + V Y $ + S $ + " V " + V Y $ + S $ + " D " + D $ + S $ + " T S " + S $ + " I "
K = M 3(Y ) : B
=2
I F K < 0 THEN
B= 1
D$ = M I D $ ( S T R $ ( K ) , B )
S$ = M ID $( S T R $( 3 ) , 1
)
VB = ( A B S ( B E T A ( Y ) ) * 1 8 ) / ( 2 * P I * T M ( Y ) )
P = VB : GOS UB 5 4 0 0 : V B $ = M I D $ ( P $ , 1 )
CMD $ ( 3 , Y ) = S $ + ,,V S " + V B $ + S $ + " V " + V B $ + S $ + " D " + D $ + S $ + " I "
K = M4(Y) : B
=2
I F K < 0 THEN
B= 1
D$ = M I D $ ( S T R $ ( K ) , B )
A2.7
A P P A N D IX
4960
4970
4980
4990
5000
5010
5020
5030
5040
5050
5060
5070
5080
5090
5100
5110
5120
5130
5140
5150
5160
5170
5180
5190
5200
5210
5220
5230
5240
5250
5260
5270
5280
5290
5300
5310
5320
5330
5340
5350
5360
5370
5380
5390
5400
5410
5420
5430
5440
5450
5460
5470
5480
5490
5500
5510
5520
5530
2
S$ = M ID$( ST R $( 3 ) , 1
)
VA = ( A B S ( A L F A ( Y ) * 1 0 0 ) ) / ( 2 * P I * T M ( Y ) )
P = VA : GOS UB 5 4 0 0 : V A $ = M I D $ ( P $ , 1 )
CMD $ ( 4 , Y ) = S $ + " V S " + V A $ + S $ + " V " + V A $ + S $ + " D " + D $ + S $ + " I "
--------------T
I M E ( Y) _ t i m e ( Y - I ) + TM (Y)
NEXT Y
SCREEN 0 , 0 , 0
CLS s SCREEN
LOCATE 1 2 , 8
P R I N T " P R E S S S P A C E BAR TO D I S P L A Y A L F A , B E T A , M A C H I N I N G T I M E AND AREA"
LOCATE 1 3 , 8
P R I N T " -------------------------------------------GOS UB 5 3 4 0 s C L S
PRINT "
¡MACHINING 1 M A C H I N I N G \
T OTAL
1 TOTAL
ALFA
|
BETA
P R I N T "1 SEGMENT i
M.TIME
(D egr
j
AR EA
TIME
j
M.AREA
P R I N T "1 NUMBER ! ( D e g r
1 (mm S q . )
j (Seconds)|
ees)
mm S q .
(S e c .)
ees )
PRIN T " !
i
1
______
_ 1
_________ 1_
P R I N T .. 1---------------- .
1
1
1
F OR I =
Z TO N + l
A L F A 1 = A L F A 1 ( I ) * RD : B E T A 3 = B E T A S ( I ) *RD
ALFA$=M ID$(STR $(ALFA1), 1 , 7 )
s BETA$=MID$( ST R $(B E T A 3) , 1 , 7 )
AREA$ = MID $ ( S T R $ ( A R E A ( I ) ) , 1 , 8 )
: MT$ = M I D $ ( S T R $ ( T M ( I ) ) , 1 , 8 )
T A R E A $ = M I D $ ( S T R $ ( T A R E A ( I ) ) , 1 , 9 ) : TM$ = M I D $ ( S T R $ ( T I M E ( I ) ) , 1 , 8 )
PRINT " | " ; T A B ( 4 ) ; I ; T A B ( 9 ) \ " ; T A B ( 1 0 ) ; A L F A $ ;T A B ( 1 8 ) j " ; T A B ( 1 9 ) ; BETA$;
PRINT T A B ( 2 7 ) " \ " ; T A B ( 2 8 ) ; A R E A $ ; T A B ( 3 8 ) ; " \ " ; T A B ( 3 9 ) ; M T $ ; T A B ( 4 9 ) ; " | ";
PRINT T A B ( 5 0 ) ; TAREA$; TAB( 5 9 ) " \ " ; T A B ( 6 0 ) ; TM$; T A B ( 6 8 ) ; " | "
NE XT I
PRINT
" : -----------------------------------------------------------------------------------------------------------------------------------------------------MIN = I N T ( T I M E ( 1 - 1 ) / 6 0 )
: TTIM = T I M E ( I - l )
'T o ta l m ach in in g tim e
SEC = ( ( ( T I M E ( I - l ) / 6 0 ) - M I N ) * 6 0 )
: TAREA$ = M I D $ ( S T R $ ( T A R E A ( 1 - 1 ) ) , 1 , 9 )
TIM $ = S T R $ ( M I N ) +" MINUTES A N D " + M I D $ ( S T R $ ( S E C ) , 1 , 6 ) + " SECONDS"
P R I N T T A B ( 7 ) / " T O T A L AR EA O F " ; T A R E A $
mm. S q r . N E E D S M A C H I N I N G " ;
P R I N T " TIME
O F " ; T I M $ ; " A T THE F E E D RAT E OF " ; F R ; " mm S q r . / M i n . "
PRINT s PRINT
TAB(2 5 )
: GOS UB
5330
SCREEN 2
RETURN
GOS UB
5800
***************************************************************
P R I N T " P R E S S S P A C E BAR TO C O N T I N U E . "
V$ = INKEY$
I F V $ < > " " THEN 5 3 4 0
RETURN
' ____________________________________________________________________________________________________
'**
T H I S S U B - R O U T I N E F I N D S F OU R D I G I T S A F T E R D E C I M A L P O I N T
**
’ --------------------------------------------------------------------------------------------------------------------------------------------------------WH = F I X ( P )
P
= P - WH
P
=F IX ( P * 10000 )
P
=P / 10000
P
=P + 1
P$ = M ID $ (S T R $ (P ), 3 , 6 )
I F WH = 0 THEN 5 4 8 0
P = WH + V A L ( P $ ) : P $ = M I D $ ( S T R $ ( P ) , 2 , 6 )
E$ = M I D $ ( S T R $ ( . 0 0 1 ) , 2 , 5 )
I F V A L ( P $ ) < V A L ( E $ ) THEN P $ = E $
RETURN
' ____________________________________________________________________________________________________
' ** T H I S S U B R O U T I N E R E S E T S P C 2 3 , S E T S O P E R A T I N G MODE , MOTOR
■** R E S O L U T I O N AND S E L E C T S VOLTAGE I N THE P V R C I R C U I T .
A2 . 8
A P P A N D IX 2
5540
5550
5560
5570
5580
5590
5600
5610
5620
5630
5640
5650
5660
5670
5680
5690
5700
5710
5720
5730
5740
5750
5760
5770
5 780
5790
5800
5810
5820
5830
5840
5850
5860
5870
5880
5890
5900
5910
5920
5930
5940
5950
5960
5970
5980
5990
6000
6010
6020
6030
6040
6050
6060
6070
6080
6090
6100
6110
' ----------------------------------------------------------------------------------------------------------------------------VL1=1.2 5
:
VL2=6
s
V L 3= 5.5
:
VL4=5
:
V L 5=4.5
C L S ; LOCATE 8 , 3
LOCATE 8 , 3
:
P R I N T " P L E A S E 1 NOW S U P P L Y POWER TO
A D AP T OR B O XE S
: PRIN T "P C 2 3
LOCATE 1 0 , 1 2
: P R IN T "FOR
COMMUNI CAT I ON
LOCATE 1 2 , 1 2
: P R I N T " I N I T I A L I Z A T I O N THEN
LOCATE 1 4 , 1 2
LOCATE 2 0 , 6 : P R I N T " P R E S S S P A C E BAR TO C O N T I N U E "
5 3 4 0 : GOS UB 6 2 8 0 : C P D $ = " 1 M R 6 2 M R 6 3 MR6 1 M P A 2 MPA 3 MPA
GOSUB
CMD$ = C P D $ + " 0 0 0 0 0 X 1 " : A D D R E S S % = A D D R E S S 1 % s G O S U B 6 9 3 0
CMD$ = "3 MR6 3 MPA" : ADDRESS% = A D D R E S S 2 % : GOS UB 6 9 3 0
CLS
: LOCATE 2 , 2
5 , 8 : P R I N T " NOW S U P P L Y POWER TO ------ >
LOCATE
PRIN T " 1 . K S -D R IV E NO. 1 , 2 , 3 & 4
LOCATE 8 , 8
:
CIRCUIT
U N I T AND
LOCATE 1 0 , 8 : P R I N T " 2 . P V R
M U L T I M E T E R TO
LOCATE 1 2 , 8 : P R I N T " 3 . CONNECT
S E E VOLTAGE
VARIATION
IN
THE
CUTTING WIRE.
LOCATE 2 0 , 6 : P R I N T " P R E S S S P A C E BAR TO C O N T I N U E ”
5340
GOSUB
: SCREEN 2
SCREEN 0 , 0 , 0
GOTO 5 8 5 0
C L S : L OCATE 3 , 2 1
PRINT "PLEASE !
S E L E C T THE LOWEST
VA LUE TO CHECK"
LOCATE 4 , 2 4
P R I N T " R E T R A C I N G C A P A B I L I T Y OF THE S Y S T E M . "
LOCATE 6 , 1 4
P R I N T " P R E V I O U S L Y VOLTAGE S U P P L I E D TO WI RE WAS " ; V L T ; "
VOLTS."
LOCATE 7 , 1 4
P R I N T "NOW YOU CAN S E L E C T NEW VOLTAGE FROM
FOLL OWI NG O P T I O N S . "
GOTO 5 8 7 0
LOCATE 7 , 1 6
P R I N T " P R E S E N T VOLTAGE I N THE C U T T I N G WI RE I S = " ; V L 1 ; " V O L T S . "
L OCATE 8 , 2 2 S P R I N T S T R I N G $ ( 4 0 , " * " )
P R I N T TAB ( 2 2 ) " * VOLTAGE 1 .................................................. " ; V L 1 ; " V O L T S * "
P R I N T TAB ( 2 2 ) " * VOLTAGE 2 .................................................. " ; V L 2 ; "
VOLTS * "
P R I N T TAB ( 2 2 ) " * VOLTAGE 3 .................................................. " ; V L 3 ; "
VOLTS *"
P R I N T TAB ( 2 2 ) " * VOLTAGE 4 ........... ......................................." ; V L 4 ; "
VOLTS *"
P R I N T TAB ( 2 2 ) " * VOLTAGE 5 .................................................. " ; V L 5 } " V O L T S * "
PRINT TAB( 2 2 ) S TRI NG? ( 4 0 )
LOCATE 1 8 , 2 2
: P R I N T " S E L E C T VOLTAGE BY P R E S S I N G K E Y S
1 - 5 KEY
PRINT
A$=INKEY$
I F V A L ( A $ ) = 1 THEN C M D $ = C P D $
+ " 0 0 0 0 0 X 1 " sGOTO 6 0 3 0
+ " 0 0 1 0 0 X 0 " : GOTO 6 0 3 0
+ " 0 1 0 0 0 X 0 " : GOTO 6 0 3 0
+ " 0 0 0 0 1 X 0 " sGOTO 6 0 3 0
+ " 0 0 0 1 0 X 0 " : GOTO 6 0 3 0
GOTO 5 9 6 0
ADDRESS% = A D D R E S S 1 % : GOS UB 6 9 3 0 : CLS
IF VAL(A $ )
= 1
THEN V L T = V L 1
I F V A L (A $ )
= 2
THEN V L T = V L 2
IF VAL(A $ )
= 3
THEN V L T = V L 3
I F V A L (A $ )
= 4
THEN V L T = V L 4
IF VAL(A $ )
= 5
THEN V L T = V L 5
C L S : S C R E E N 2 : LOCATE 2 , 2
P R I N T "TOTAL M A C H I N I N G T I M E F OR T H I S D I E P R O F I L E I S = " ; T I M $
LOCATE 3 , 2
A2.9
A P P A N D IX
6120
6130
6140
6150
6160
6170
6180
6190
6200
6210
6220
6230
6240
6250
6260
6270
6280
6290
6300
6310
6320
6330
6340
6350
6360
6370
6380
6390
6400
6410
6420
6430
6440
6450
6460
6470
6480
6490
6500
6510
6520
6530
6540
6550
6560
6570
6580
6590
6600
6610
6620
6630
6640
6650
6660
6670
6680
6690
2
P R I N T " R E S T OF THE P R O F I L E N E E D S M A C H I N I N G T I M E OF = " ;
LOCATE 4 , 2
P R I N T " T I M E F O R T H I S SEGMENT TO BE MANUFACTURED I S = "
LOCATE 5 , 1 4
P R I N T "TOTAL M A C H I N I N G
A R E A O F THE D I E I S = " ; T A R E A $ ; " m m . S q r "
LOCATE 6 , 1 4
P R I N T " P R E S E N T WORKPI ECE F E E D R A T E I S = " ; F R ; " m m . S q r . / m i n . "
LOCATE 7 , 1 4
PRIN T
"THE VOLTAGE I N THE C U T T I N G WI RE I S A P R X . " ; V L T ; " V O L T S . "
PRINT
:P R I N T
:P R I N T
RET URN
’
' ____________________________________________________________________________________________________
**************************************************************
' * T H I S S U B - R O U T I N E S E T S V A R I A B L E S , & R E S E T BOTH THE I N D E X E R S *
**************************************************************
AD D R E S S 1 % = & H 3 0 0
'B ase
a d d r e s s o f PC23 i n d e x e r o n e ( d e c i 7 6 8 )
ADDRESS2% = & H 3 1 0
'B ase
a d d r e s s o f PC23 i n d e x e r tw o ( d e c i 7 8 4 )
INTRCLR =&H20
'T his
v a r ia b le is for c le a r in g C ontrol B it 5
’
( t o s i g n a l " R e s ta r t W atchdog T im er")
RESTART =& H 40
'T h is
v a r ia b le i s fo r c le a r in g C ontrol B it 6
'
( t o s i g n a l " R e s ta r t W atchdog T im er")
CONTROL = & H 6 0
'T his i s th e norm al s t a t e o f th e C o n tro l B yte
'
(o n ly B i t s 5 and 6 a r e h ig h )
READY
=&H17
'T h is
i s th e norm al s t a t e o f th e S ta tu s B yte
'
( b it 0, 1, 2 and 4 are s e t)
HALT
=&H64
'T h is v a r ia b le i s fo r s e t t i n g C on trol B it 2
'
( t o s i g n a l t h e "W atchdog Tim er" t o t i m e o u t )
CMDRDY
= & H 7 0 ' T H I S V A R I A B L E I S A MASK FOR S E T T I N G CONTROL B I T
'
4 ( t o s i g n a l "Command B y t e R e a d y i n t h e IDB o r n o t )
RECEIVED=&HE0 ' T h i s v a r i a b l e i s a m a s k f o r s e t t i n g C o n t r o l B i t
'
7
( t o s i g n a l " M e s s a g e R e c e i v e d f r o m t h e ODB")
ODBREADY = 8
'T h is v a r ia b le i s a m ask f o r t e s t i n g S t a t u s B i t 3
'
( i s a r e sp o n se w a itin g in th e O utput D ata B u ffe r ? )
IDBREADY = & H 1 0 ' T h i s v a r i a b l e i s a m a s k f o r t e s t i n g S t a t u s B i t
'
4 ( i s t h e I n p u t D a t a B u f f e r r e a d y f o r a command b y t e )
FA IL =&H20
'T h is v a r i a b l e i s a m ask f o r t e s t i n g S t a t u s B i t 5
'
( h a s t h e PC23 s u f f e r e d a p r o c e s s i n g
fa ilu re? )
MASK = & H 7 F
' T h i s v a r i a b l e i s a m a s k f o r t h e S t a t u s b y t e MSB
' -----------------------------------------------------------------------------------------------------------------------------------------------------1* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
'*
" R E S E T S U B R O U T I N E " F OR BOTH P C 2 3 I N D E X E R B OARD S
*
**************************************************************
'The f o l l o w i n g
su b rou tin e
allo w s
the
"W atchdog Tim er"
to
'tim e
out,
and R e se ts
both th e
PC23s.
Then t h e
tim er
is
' r e s t a r t e d . A "GOSUB 1 0 2 2 0 " i n s t r u c t i o n w i l l r e s e t b o t h P C 2 3 s .
'
BYTE1=0 : BYTE2=0 : TIMEOUT=1000
'S et tim eou t d u ration
OUT A D D R E S S 1 % + 1 , ( HALT ) ' C o n t r o l B i t 2 o f P C 2 3 N o . 1 i s h i g h
OUT A D D R E S S 2 % + 1 , ( HALT ) ' C o n t r o l B i t 2 o f P C 2 3 N o . 2 i s h i g h
WHI LE ( B Y T E 1 AND B Y T E 2
AND F A I L ) = 0 AND T I M E O U T > 0 ' F a i l / t i m e o u t
B Y T E 1 = I N P ( ADDRESS1%+1 )
'R e a d S t a t u s B y t e o f PC23 N o. 1
'R ead S t a t u s B y t e o f PC23 N o. 2
T I ME O U T = T I ME O U T - 1 : WEND
'R epeat u n t i l tim e o u t o r f a i l
I F T I ME O U T < = 0 THEN GOTO 6 6 8 0
GOTO 6 6 9 0
PRINT " I n v a l i d r e s p o n s e f r o m e i t h e r o f t h e a d d r e s s e s . "
:
END
BYTE1=0 s BYTE2=0
: TIMEOUT=1000
'S et tim e out d u ra tio n
A 2.10
A P P A N D IX
6700
6710
6720
6730
6740
6750
6760
6770
6780
6790
6800
6810
6820
6830
6840
6850
6860
6870
6880
6890
6900
6910
6920
6930
6940
6950
6960
6970
6980
6990
7000
7010
7020
7030
7040
7050
7060
7070
7080
7090
7100
7110
7120
7130
7140
7150
7160
7170
7180
7190
7200
7210
7220
7230
7240
7250
7260
7270
2
OUT A D D R E S S 1 % + 1 , ( R E S T A R T ) ' C o n t r o l B i t 2 o f P C 2 3 N o .
1 i s h igh
OUT A D D R E S S 2 % + 1 , ( R E S T A R T ) ' C o n t r o l B i t 2 o f P C 2 3 N o .
2 i s h igh
WH I LE ( B Y T E 1 AND B Y T E 2 AND MASK) < > READY AND T I M E O U T > 0
T I ME O U T = T I M E O U T - 1 : WEND
'R epeat u n t i l r e c o v e r y
OUT A D D R E S S 1 % + 1 , ( C O N T R O L )
' R e s t o r e C o n t r o l b y t e o f PC23 N o . l
OUT A D D R E S S 1 % + 1 , ( I N T R C L R )
' R e s t o r e C o n t r o l b y t e o f PC23 N o . l
OUT A D D R E S S 2 % + 1 , ( C O N T R O L )
' R e s t o r e C o n t r o l b y t e o f PC23 N o . 2
OUT A D D R E S S 2 % + 1 , ( I N T R C L R )
' R e s t o r e C o n t r o l b y t e o f PC23 N o . 2
I F T I M E O U T < = 0 THEN GOTO 6 8 2 0
GOTO 6 8 3 0
P R I N T " T i m e o u t r e c o v e r i n g f r o m r e s e t I " : B E E P : END
F OR 1 = 1 TO 2 0 0 s NEX T
R E TURN
*************************************************************
*
"OUTPUT DRI VER "
*
*************************************************************
The f o llo w in g i s a handshake su b r o u tin e a llo w in g d a ta t o be
t r a n s f e r r e d f r o m t h e IBM BUS t o e i t h e r o f t h e P C 2 3 i n d e x e r s .
Command
s t r i n g d a ta i s s e n t t o t h e PC23s one c h a r a c te r a t a
tim e.
F OR I = 1 TO L E N ( CMD$ )
CHAR$ = M I D $ ( C M D $ , I , 1 )
' F e t c h command c h a r a c t e r s and
GOS UB 7 0 0 0
'Send them o n e a t a tim e .
NE XT I
CHAR$ = C H R $ ( 1 3 ) : GOS UB 7 0 0 0
'F o llo w w ith a c a r r ia g e retu rn
RE T U RN
BYTE = 0 : T I ME O U T = 1 0 0 0
WH I LE ( B Y T E AND I D B R E A D Y ) = 0 AND
BYT E = I N P ( A D D R E S S % + 1 )
T I ME O U T = TI MEO UT - 1 : WEND
I F T I M E O U T < = 0 THEN P R I N T
T im
OUT A D D R E S S % , A S C ( C H A R $ )
OUT A D D R E S S % + 1 , ( CMDRDY)
BY T E = 2 5 5 : T I MEO UT = 1 0 0 0
WHI LE ( B Y T E AND I D B R E A D Y ) > 0 AND
BYT E = I N P ( A D D R E S S % + 1 )
T I ME O U T = TI MEO UT - 1 : WE N D
OUT A D D R E S S % + 1 , ( CONTROL )
I F T I M E O U T < = 0 THEN P R I N T " T i m
RET URN
'S et tim eou t d u ration
0
'R eady o r tim e o u t
'R ead S t a t u s B y te
'Repeat
e o u t d u r i n g w r i t e l " : B E E P : END
'W r it e command c h a r a c t e r
'S ign al ch arater is w a itin g
'S et tim eou t d u ra tio n .
TIMEOUT > 0
'B usy o r tim e o u t
'R epeat
TIMEOUT
eout
>
a fter
w rite!"
:
BEEP
:
END
*************************************************************
*
"INPUT
DRIVER"
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * llf* * * * * * * * * * * * * * * * * * * *
The f o llo w in g i s a handshake s u b r o u tin e a llo w in g d a ta t o be
t r a n s f e r e d f r o m e i t h e r o f t h e P C 2 3 i n d e x e r s t o t h e IBM B U S .
T his d a ta i s se n t one c h a r a c te r a t a tim e.
ANSWER$=""
BYT E = 0 : T I M E O U T = 5
WH I LE ( B Y T E AND O D B R E A D Y ) = 0 AND
BYTE = I N P ( ADDRESS%+1 )
T I M E O U T = T I ME O U T - 1 : W E N D
I F T I M E O U T < = 0 THEN RET URN
'In itic d iz e response strin g
'I n it ia liz e v a ria b les
TIMEOUT > 0 ' R e a d y o r t i m e o u t
'R epeat
'G ive up i f no m essa g e
A 2.11
A P P A N D IX
7280
7290
7300
7310
7320
7330
7340
7350
7360
7370
7380
7390
2
ANSWER = I N P ( ADDRES S% )
'R ead 1 r e s p o n s e b y t e
OUT A D D R E S S % + 1 , ( R E C E I V E D )
'S ign al ch aracter r eceiv ed
BYTE = 2 5 5 : TIMEOUT = 1 0 0 0
'I n it ia liz e v a ria b les
W H I L E ( B Y T E AND O D B R E A D Y ) > 0 AND T I M E O U T
> 0
'B usy o r tim e o u t
BYTE = I N P ( ADDRESS%+1 )
T I M E O U T = T I M E O U T - 1 : WEND
'R epeat
I F T I M E O U T < = 0 THEN P R I N T " T i m e o u t a f t e r r e a d l "
: B E E P : END
OUT A D D R E S S % + 1 , ( CONTROL )
'R esto re c o n tr o l b y te
CHAR$ = CHR$ ( ANSWER )
'C onvert cod e t o ch ar.
ANSWERS = ANS WER$ + CHAR $
'Add c h a r t o a n sw e r
I F CHAR$ = C H R $ ( 1 3 ) T H E N R E T U R N E L S E 7 2 3 0
'
A 2 . 12

integration of cad / cam for manufacturing of - DORAS

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