SLCDFMCMTS五軸應用調試手冊五軸應用調試手冊SINUMERIK840D概 原 五軸工藝指令 五軸工藝指令 缺省G代 M代碼調用 制造商循環 3D測頭標 測 附 TCARR和TRAORI配置參數對照 概五軸應用五軸機床類型 ---兩個旋轉軸都在主軸側；工作臺旋轉---兩個旋轉軸都在工件側B的車銑復轉軸圍繞虛擬的Y；斜軸的車銑復Y和旋五軸功能的設定配定原五軸轉換（TRAORI指令）是一種特殊的坐標轉換，如同TRANSMIT（端面銑削），TRACYL（柱面銑削），五軸功能選項激活(步驟1：在OPERATE 選工步3D品程序模樣條插補（A、BC條5加工5標系統坐標系確定機床坐標系系統符合ISO標準。 五軸轉換結構的定義轉換類型刀具旋轉類型，C1st旋轉軸，B2st轉換類型刀具旋轉+工件旋轉，刀具旋轉軸B1st旋轉軸，工件旋轉軸C2st旋轉轉換類型工件旋轉，B1st旋轉軸，C2stTRAFO_AXES_IN(MD24110)：設置參與五軸轉換的通道軸；TRAFO_AXES_IN[3]：1st旋轉軸TRAFO_AXES_IN[4]：2st旋轉軸((索引號：圍繞X旋轉---A軸Base_Orient[0]：沿X軸方向Base_Orient[1]：沿Y軸方向Base_Orient[2]：沿Z方向MD24500---Part_Offset;MD24550---Base_Tool;MD24558---Joint_Offset_Part;MD24560---Joint_Offset;Base_Tool：刀具基準點到2nd旋轉軸的回轉中心Joint_Offset：2nd旋轉軸的回轉中心到1st旋轉軸的回轉中心Part_Offset：1st旋轉軸的回轉中心到刀具基準點幾何關系：Part_Offset（Base_ToolBase_Tool：刀具基準點到1st旋轉軸的回轉中心Joint_Offset1st旋轉軸的回轉中心到刀具基準點幾何關系：Joint_Offset=-Base_Tool幾何關系：Part_OffsetBase_Tool：機床零點到1st旋轉軸的回轉中心Joint_Offset：1st旋轉軸的回轉中心到2nd旋轉軸的回轉中心Part_Offset：2nd旋轉軸的回轉中心到機床零點幾何關系：Base_Tool（Joint_Offset+轉Base_Tool的Z的測量可以利用測頭或檢棒(長度L和半徑R)，分別在A090位置測得Z軸坐標值Z0和Z1，于是：Base_Tool[2]=Z0+L-Z1-R;的Base_Tool的Z向測量與上述相同；Part_Offset的X、Y向的測量可將機床直接定位在進而坐標值取得；Joint_Offset的Z向測量可利用A軸分別在-90度和90度測量C軸的轉臺表面，測得兩個Y軸坐標Y1、Y2，Joint_Offset[2]=(Y1-Y2)/2；等等。球頭檢 以G54;G54G90G01C0A0F1080C=0YZ償運動；C=90XZ償運動)A-90;M00;A90;M00M30; 其他類型的五軸結構2）、設置MD24110和面章節Cycle800的設置)、設定參數MD24582MD24682，輸入轉換12五軸功能的狀態監測5轉換激:刀ORIMKS:刀具定向以機床定TOFRAME:義一個Z向與刀具定向一致的工件坐標系(刪除已經激活的FRAME)；TOROT:定義一個Z方向與刀具定向一致的工件坐標系；(保留已經激活的指手動實現刀具退回時，注意Z軸必須為幾何軸TOROT令是用來定義Z用于G17面的銑G18、G19面時，有TOROTZ(等同于 ONMD20110$MC_RESET_MODE_MASKMD20140說程序結束時的特性由機床數據20110$MC_RESET_MODE_MASK床數據20112$MC_START_MODE_MASK確定。機床數據20110機床數據20112MD20144說0=0:機床數據20140$MC_TRAFO_RESET_VALUE定的TRAFOOF確定的機床數據20110$MC_RESET_MODE_MASK位0=1，位7=0機床數據20112$MC_START_MODE_MASK71=0：據cycle800設（-à-à見 參數設置ToolholderMD18088系統最大ToolHolder>系統Frame空MD28083系統Frame=Bit2=Frame（TCARRPAROTBit3=刀具Frame（TOROTandTOFRAMEBit4=系統MD28082Systemframes=Bit2=TCARRandBit3=TAROTandBit4=WorkpiecereferenceBit5=Systemframefor復位后保留系統MD24006復位后，保留的系統=Bit==MD24007MD24007復位后，刪除的系統10H（建議設Bit==刪上電后，reset的MD24008上電后，復位系統=Bit工作臺==復Bit==復Bit工件==復上電后，激活的用戶工件坐標系MD24080=Bit=MD52212Bit0=激活菜顯示菜SD55221Functionscreen,swiveling=BitInputfield"No==BitSelecttextwhenretracting"Z,ZY"or"Fixedposition=DisplaytextZ="Z",displaytextZ,XY==DisplaytextZ="Fixedpoint1",DisplaytextZ,XY="FixedpointBitSelect,permit"deselection"oftheswiveldatasetselectionfieldisnotdisplayed=Ifdeselectionisnotpermitted,the"Swiveldataset"(TC)inthe"Swivel"inputscreen.=DeselectionpermittedHUNDREDMILLIONSIfyouwishtomodifytheretractionversion"Z"or"Z,XY"viathemanufacturercycleCUST_800.SPF,theneutraltext"Fixedpoint1"and"Fixedpoint2"canbedisplayed.seealsoswiveldatasetparameterBitDisplaystheactiveswivelplaneunderswivelinJOG.ThesettingintheswivelfunctionscreenactsonallswiveldataBitPositioninginthebasicposition(poleposition)ofthe=Evaluationoftheinputvaluesinpolepositionofthemachine=BitDonotlistswivelmode"direct"underswivelinMD10602==MD11450=Bit1=MD18114===MD20196=Bit0=Bit1=MD20110和=Bit14=計算基本和系統MD20112=MD20126MD20126==復位后，不激活=>0缺省G[41]=[51]=鼠牙盤結構的旋轉軸，TOROT補償（$P_TOOLFRAME），分度軸CYCLE800置==G17=G18=G19MD21100==RPY=M代碼調用MD22530調用TCARR的M==無<M代碼=M（-（設置值）+TCARRSD42980TOFRAME、TOROT和PAROT=SD42974===的精確補償變量“回轉數據”頁面中 的設Base_Tool;Part_Offset;Joint_Offset;Join_Offset_Part）XYZ旋轉軸方向V1/V2XYZT刀P工作=”M混合I1=-（I2+V11轉V22轉例因C軸繞Z軸旋轉，所以在V1的Z矢量中設置1。同理，A軸繞X旋轉，所以在X矢量中輸1選擇菜單。I4=-（I2+I1=-I4=-制造商循環所有軸的運動都是在CUST_800.SPF 轉;;Inclinablehead/tablecycleformachine;;;; ;2=Changemagazine;3=Changehand;4=Changenewswivelhead;5=Changenewswivelhead;6=Changeoldswivelhead;7=Changeoldswivelhead;8=Changeswivelheads;9=Changeswivelheads;10=Angleadaptedtoangle;11=Initializeanglesatprogram;12=Swivelaftertoolchange;13=Swivelaftertoolchange;14=Retractafter;15=Retractafterblock 16=Changeoldswivelin 20=SwivelRoundaxes1,2automatic.Trackingwith 21=SwivelRoundaxis1manual,Roundaxis2automaticswivel.Trackingwith 22=SwivelRoundaxis1automatic.Trackingwith 23=SwivelRoundaxis1 30=SwivelRoundaxis1automatic,Roundaxis2manual.Trackingwith 31=SwivelRoundaxes1,2 35=BlocksearchRoundaxis1and/orRoundaxis2 40=User 41=axisZMCS- 42=axisZandafteraxesXYMCS- 44=Tooldirection 45=Tooldirectionretract ShopMill46=Toolretractmodalafterblock 57,58,59=JOGSwivel+TRAORI(Area 70=Aligntool: 71=Aligntool:Swivelround 72=Aligntool:;re.40-->User;1.Before1stcalculationoftheframe,theusercanincorporatehisowninitializationinthe;2.InCUST_800theusercaninterrogatethevariables_TC_N_WZand_TC_A_WZandswitchone.g.;re.;TheusercanmodifyasappropriatetheNCblocksfortoolretractionbefore;Thismeansthatthetoolretractionpositions(seeIBNscreenSWIVEL)canbetraversedabsolu orincrementally.;; :Numberoftheswivelhead/swivel; :Angleofthe1stturning; :Angleofthe2stturning;_TC2 :Feedoverride%forJOGswivel,onlyforShopMill:Numberofnewswivelhead/tablewhenchanging;_T_POS:incrementalpositionforincrementalretractionintooldirection(MODE;;Global;_TC_FR:ones' 0=Notool 1=ToolretractionaxisZMCS- 2=ToolretractionaxisZandafteraxesXYMCS- 3= 4=Tooldirectionretract 5=Tooldirectionretract thousands' 0=Swivelin 1=Swivelin;_TC_N_WZ:Tracking;_TC_A_WZ:Align;運動幾何標定循環 測量原理通過測量標準球的空間位置，自動計算運動幾何轉換（TRAORITCARR）定義的幾何矢量尺寸。使用條件機床機構（X，Y，Z互相垂直），明確的旋轉軸關系，軸方向符合ISO841-2001或DIN66217標準（右手定則）測量過程分別測量旋轉軸。使用CYCLE800或TRAORI+TOROT指令將測頭定位到標準球的測量起始點，使（正確 若小于15°，則計算結果確。 參數SD55740$SCS_MEA_FUNCTION_MASKBit8=0：運動測量不激活TRAORI或TCARR（沿直線軸方向測量）Bit81：運動測量中激活TRAORI或TCARR（沿刀具矢量方向測量）測量參數DFA測量 測量結果計算SD55613=1顯示8參數SD55740$SCS_MEA_FUNCTION_MASKBit7置幾何矢量計算的基礎。位7：機床運動測量，定向矢量的標定基礎=,= TLIN：最大允許幾何矢量偏差（mm）TROT： 提示，名舊的TRAORI（1）舊的TCARR新的TRAORI（1）新的TCARR執行報告程序可同時修改TCARR和TRAORI設定參數測量程序顯示3D軟SD54760$SNS_MEA_FUNCTION_MASK_PIECE3D測量使用TRAORI;Measuringpositionsfor;P1..P3rotaryaxis;P4..P6rotaryaxisN10DEFREAL_P1[2]=SET(0,0) ;MeasuringpointP1rotaryaxis1(B),rotaryaxis2(C)N20DEFREAL_P2[2]=SET(15,0)N30DEFREAL_P3[2]=SET(-30,0)N40DEFREAL_P4[2]=SET(0,0)N50DEFREAL_P5[2]=SET(0,60)N60DEFREAL_P6[2]=SET(0,-140)N70DEFREAL ;CalibrationballN80DEFREAL ;Safetyclearanceabovethecalibration;Globallypre-assignmeasuringparametersN90_FA=_SAVB*3N100N120MSG("loadtransformationdata.OK??")N130M0N150MSG();GOTOF_MCA ;Onlycalculatekinematics_OVR[40]to_OVR[71]OKN160G17N180ORIAXESORIMKSN190TRAORIN200G57N210T30D1;N220N230IF(NOT$P_SEARCH)AND(NOT$P_ISTEST)AND(NOTN240_OVR[40]=0 ;ZerothemeasuringcounterN250ENDIF 1stmeasurement,rotaryaxisN260G1G710G90Z30FFWONF2000N270TOFFL=_BALL/2+_SAVBN280D1A=_P1[0]B=_P1[1] N290Z=_SAVBN300TOFFL=0N310X0Y0;CirclearoundtheN320N350N380TOROTOF 2ndmeasurement,rotaryaxisN400G1N410TOFFL=_BALL/2+_SAVB ;Whenrepositioning,correctthetoolonlineN420A=_P2[0]B=_P2[1]N430 ;Disableonlinecorrection;Circlearoundtheball,startingangle45N450TOROTN460Z=IC(-_FA+_SAVB) ;ApproachstartingpositionN470TOROTOF 3rdmeasurement,rotaryaxisN480G1N500D1A=_P3[0]B=_P3[1]N510TOFFL=0N530TOROTN550TOROTOF 1stmeasurement,rotaryaxis;Initialstate,1stmeasurement,rotaryaxis1=1stmeasurement,rotaryaxis2N560_OVR[51]=_OVR[41]_OVR[52]=_OVR[42]_OVR[53]=_OVR[43]N570IF(NOT$P_SEARCH)AND(NOT$P_ISTEST)AND(NOT$P_SIM)N580_OVR[40]=_OVR[40]+10N590 2ndmeasurement,rotaryaxisN600G1N620D1A=_P5[0]B=_P5[1]N630TOFFL=0N660TOROTN680TOROTOF 3rdmeasurement,rotaryaxisN700G1D1B=_P6[1]F2000N710TOFFL=0N730TOROTN750TOROTOFN760 CalculateN790;Displaydataset.Savedatasetasprotocol;Normalizingrotaryaxis2(C)onZ=0->tableupperN800N810MSG("KinematicsmeasurementOK")N830M30;endofprogram;Measuringpositionsfor;P1..P3rotaryaxis;P4..P6rotaryaxisN10DEFREAL_P1[2]=SET(0,0) ;MeasuringpointP1rotaryaxis1(B),rotaryaxis2(C)N20DEFREAL_P2[2]=SET(15,0)N30DEFREAL_P3[2]=SET(-30,0)N40DEFREAL_P4[2]=SET(0,0)N50DEFREAL_P5[2]=SET(0,60)N60DEFREAL_P6[2]=SET(0,-140)N70DEFREAL ;CalibrationballN80DEFREAL ;Safetyclearanceabovethecalibration;Globallypre-assignmeasuringparametersN90_FA=_SAVB*3N100N110REPEAT_SDA_SDE;Read-inswiveldatasetN120MSG("loadtransformationdata.OK??")N130M0N140N150;GOTOF_MCA ;Onlycalculatekinematics_OVR[40]to_OVR[71]OKN160G17N180G57N190T30;N220N200IF(NOT$P_SEARCH)AND(NOT$P_ISTEST)AND(NOTN210_OVR[40]=0 ;ZerothemeasuringcounterN220ENDIF 1stmeasurement,rotaryaxisN230G1G710G90Z30FFWONF2000N240TOFFL=_BALL/2+_SAVBN250N270X0Y0Z=_SAVBN280;CirclearoundtheN300STOPREN310Z=IC(- 2ndmeasurement,rotaryaxisN320G1N330TOFFL=_BALL/2+_SAVB ;Whenrepositioning,correctthetoolonlineN340D1N360X0Y0Z=_SAVBN370 ;Disableonlinecorrection;Circlearoundtheball,startingangle45N380N390Z=IC(-_FA+_SAVB);Approachstarting 3rdmeasurement,rotaryaxisN400G1N420D1N440X0Y0Z=_SAVBN450N470Z=IC(-_FA+_SAVB) 1stmeasurement,rotaryaxis;Initialstate,1stmeasurement,rotaryaxis1=1stmeasurement,rotaryaxis2N480_OVR[51]=_OVR[41]_OVR[52]=_OVR[42]_OVR[53]=_OVR[43]N490IF(NOT$P_SEARCH)AND(NOT$P_ISTEST)AND(NOT$P_SIM)N500_OVR[40]=_OVR[40]+10N510 2ndmeasurement,rotaryaxisN520G1N540D1N560X0Y0Z=_SAVBN570N590Z=IC(-_FA+_SAVB) 3rdmeasurement,rotaryaxisN610G1D1N630X0Y0Z=_SAVBN640N660Z=IC(-_FA+_SAVB)N680M0 CalculateN690;Displaydataset.Savedatasetasprotocol;Normalizingrotaryaxis2(C)onZ=0->tableupperN700N720M30;endof相關參數SD55740Bit7=0：以計算出的定向矢量（V1xyzV2xyz）Bit71：以定向矢量（V1xyzV2xyz）輸入值（TCARR）為標定基礎Bit8=0：運動測量不激活TRAORI或TCARR（沿直線軸方向測量）SD55613=1顯示8SD54760$SNS_MEA_FUNCTION_MASK_PIECEBit11：顯3D量軟MD11420$MN_LEN_PROTOCOL_FILE≥3D測頭 測頭硬件連接說頭說Bit00X122具測Bit161X132件測軸=1：支持第三幾何軸，設定值和參數(SETVAL,_TUL,_TLL,SZO)可針對第三幾何軸（Y軸）設定。但刀具長度補償或零點偏移仍只針對第二幾何軸（X縱軸）。換句話說，始終在Y但在X軸補償。補償目標由參數_KNUM確定。手動觸發測頭，下述PLC址位有翻轉信號刀具測頭標定說Bit2=Bit3= -〉菜菜測量相關參數設置MD51600MD51601MD51602MD51603MD51740SD54740SD54750SD54760SD54762SD54764SD54780SD54782SD55740SD55618 surface(精優精優曲面的設置功畫面；其二是一般CAM系統里有相應的后處理(如UG的NX軟件)；如果靠輸入各個功能指令比較繁瑣； 精優曲面相關的機床數據如下表所示，其中標記“Required”,為強制設定；標記“ RequiredInternalcalculationresolutionlinear100000-10000forexportInternalcalculationresolutionrotarysameMD10200-10000forumreloadmemorywhenexecutingfromexternalfor840DNgramsthatcanbesimultaneouslyprocessed for840DAdvancedSurfaceBit9=1-Compressorfunctionalityfor3and5Bit8=1Compressor3Bit2=1CompressorIfonlytheBit8=1activatedanda5axesprogramwillbeexecuted,onlythetoolpathwillbecompressednotthe umlengthofPOLYNOMgeneratedbythecompressor Max.deviationofthepathfeedfor1000M_PARAM[0-19]Systemparameterforextended0-ActivateextendedLookAheadforselectedtechnology-specificdynamicvalues(DYNNORM,0-ActivateextendedLookAheadforselectedtechnology-specificdynamicvalues1-LookAheadFunctionforAdvancedRelieffactorforblockcycle0-LookAheadspecialfunctionrelatedtoSafety0 default/Smoothingfactorfor0 default/Adaptationofpathdynamic1 default/ProgrammablecontouraccuracyCPRECONactivifffwonis3-Pathlengthforblockdivisionwith0,5-Modeoforientation100-Behaviorofsmoothingwithx0x–Thedefault/parametermustbe Compressor300Alternative Smoothingby0Shouldnot SmoothingbySmallvalue Compressorspline3 Compressorspline53=def./5for Smoothingbycompressorforrotary0 Smoothingbycompressorforrotaryonlyfor840Dsl–for5-axisapplicationTolerancefactorforG00withCOMPCAD,3 ThisfactorisusedtomakedifferentsettingsforthetolerancesforprocessingwhenG00is um10000Ratio,translatorytocentripetalaccelerationforselected(DYNNORM,DYNPOSDYNROUGH,DYNSEMIFIN,DYNFINISH)0 Effectofpathcurvatureonpath0 Factorforcurve1 Activatescurvaturesmoothingforselectedtechnology-specificdynamicvalues(DYNNORM,DYNPOS)0-Activatescurvaturesmoothingforselectedtechnology-specificdynamicvalues1-Functionforumfilterlengthforgeometry umfilterlengthforrotary Typeofpathspeedbehaviorifthepathratiobetweenthenon-FGROUPandtheFGROUP esN22440(onlyaffectsthepath2 =0as=1as(for5-Pathratioofthenon-FGROUPtotheFGROUPaxes,asfromwhichthepathofthenon-FGROUPaxes esrelevantforthepathspeedreference(affectsORISONandCOMPCAD[lengthsdealtwith]) Memory,interpolatorfornumberofG1for840DMemory,preparationfor840Dumnumberofaxispolynomials5-onlyfor840Dslfor828=3duetoNumberofmemoryelementsforlimitingpath5-MemoryforextendedLook18-FunctionforNumberofmemoryelementsrequiredtodisplaythearclengthfunction10-ConfigurationforpathrelativeorientationORIPATHwithOST,OSD1(for5-axisapplication)onlywithoutORISONNumberofblocksfororientationonlyfor840Dsl–for5-axisapplicationMemoryforcurvature10-NumberofLookAheadblocks(mustbesameasmustbethesameMDSettingMachineCornerlimitangleforcompressorCOMPCADcriteriaforpoint36-FactorforcompressorLimitsthepathaccelerationviaSettingDatafor840DActivatesthepathaccelerationviaSettingDataSDLimitsthepathjerkviaSettingDatafor840DActivatesthepathjerkviaSettingDataumdeviationforsmoothingoftoolorientationwithcompressorwithOSD5onlyfor840Dsl–forTolerancefortoolorientationsmoothingwith1onlyfor840Dsl–5-axisapplicationandTolerancefortoolorientationsmoothingwith1onlyfor840Dsl–forAxisMachineAxisaccelerationforselectedtechnology-specificdynamicvalues(DYNNORM,DYNPOS,dependsonthemachineAxisaccelerationforselectedtechnology-specificdynamicvaluesDYNFINISH1-toavoidmachineOverloadfactorforaxialvelocitystepsforselectedtechnology-specificdynamicvalues(DYNNORM,DYNPOS,DYNROUGH,DYNSEMIFINDYNFINISH)umdeviationwhensmoothing0,005ThesameinallORISON 定向矢 ORISON使用使用ORISON時COMPCAD絕對必要的!不要使用OST/OSDORISONCOMPCAD五軸程序中使用ORISON時,對于COMPCAD，機床數據$ PRESSOR_MODE>=100必使用ORISONOTOL，計算公式如下：CTOL=√3*Cycle832tolerance.OTOL=√2*Cycle832tolerance*Factor$SCS_Mill_Tol_Factor[0-TopSurface是用于模具加工的新功能，用于軟件版本SW4.7.2系統，它的使用與Surface(精優曲面)一樣，步驟完全相同，不同的只是所涉及的參數有區別。TopSurfaceAdvanceSurface兩個功能互斥。TopSurface用同樣最簡單地是采用Cycle832壓縮器指令為TopSurface相關的機床數據如下表所示，其中標記“Required”,為強制設定；標記“ 使用TopSurface注意NC指令不要用ORISON與COMPSURF輪廓容差用CTOL向精加工建議COMPSURFCPG-功能49PTPPTPG0PTPWOCRTLIOF用COMPSURFCP結合使用RequiredInternalcalculationlinear100000-10000forexportInternalcalculationresolutionrotaryaxissameMD1020010000forexportumreloadmemoryexecutingfromfor840DNgramscanbesimultaneously for840DMachinedatatoreleasethedynamicunbufferedusermemoryontheNCDefault=Additional4MBuserwasbeforeMDThemax.memeroyCwillbeincreasedby10*4=40MachinedatatoreleasethestaticbufferedusermemoryontheNC(SRAM)Additional2MBusermemorywasbeforeMD18230Default=Passwordprotected!NCU710.3B2–6NCU720.3B2–12NCU730.3B2–12AdvancedSurfaceTopSurfaceBit9=1–Bit17=1-Compressorfunctionalityfor3and5axes3axes5IfonlytheBit8=1isactivatedanda5axesprogramwillbeexecuted,onlythetoolpathwillbecompressednotthe umlengthofPOLYNOMgeneratedbythecompressorCOMPCADdumblocklengthgeneratedbythecompressorCOMPSURF200 Max.deviationofthepathfeedfor1000dMax.deviationofthepathfeedfor1000ActivateextendedLookAheadfor(DYNNORM,DYNPOS)0-ActivateextendedLookAheadfortechnology-specificdynamicvalues1-activatesLookAheadFunctionforAdvancedRelieffactorforblockcycle0-LookAheadspecialfunctionrelatedtoSafety3-Smoothingfactorfor0-Adaptationofpathdynamic1-ProgrammablecontouraccuracyCPRECONactiveifffwonis3-Pathlengthforblockdivisionwith0,5-Modeoforientation100Behaviourofsmoothingwithx0xThedefault/2ndparametermustbe0 Compressor300dAlternative Smoothingby0ShouldnotNoinfluencefor SmoothingbyNoinfluencefor Compressorspline3 Compressorspline53=def./5 Smoothingbycompressorforrotary0Noinfluence Smoothingbycompressorforrotaryonlyfor840Dsl–for5-axisapplicationNoinfluenceforTolerancefactorforG00withCOMPCAD,dCOMPCADThisfactorisusedtomakedifferentsettingsforthetolerancesforprocessingwhenG00isactivePath-relatedum10000dRatio,translatorytocentripetalaccelerationforselectedDYNNORM,DYNPOS0-Ratio,translatorytocentripetalaccelerationforselected0.65Ratio,translatorytocentripetalaccelerationforselected0.6-Ratio,translatorytocentripetalaccelerationforselected0.5-Effectofpathcurvatureonpath0dFactorforcurve1dActivatescurvaturesmoothingforselectedtechnology-specificdynamicvalues(DYNNORM,DYNPOS)0-Activatescurvaturesmoothingforselectedtechnology-specificdynamicvalues1-Typeofpathspeedbehaviourifthepathratiobetweenthenon-FGROUPandtheFGROUPaxes esN22440(onlyaffectsthepathspeed)2d=0as=1asNCK83.04(default)(for5-axisapplications)Pathratioofthenon-FGROUPtotheFGROUPaxes,asfromwhichthepathofthenon-FGROUPaxes esrelevantforthepathspeedreference