Private MachPro Planner Reference
==MachPro build covered:Draft: add the covered MachPro build number here when the software is released.==
==There are no screen captures or graphics included in this doc yet.==
1 IntroductionUsing This Reference
1.1 Purpose and scope
AUse motionthis reference when you change motion-planner calculatesconfiguration. It assumes that the commandedmachine trajectoryis configured and controlsthat changesyou inhave velocityreached andConfigure acceleration.> MachProControl calculates> allPlanner.
The motionsections controllerfollow calculatesthe andconfiguration runs homing and tapping motion. This reference gives information aboutscreens: TrapezoidalMain, PureMotion G38.1, and theTrapezoid confirmed selection command for G38.2/Tangential KnifeG38.3. Related settings elsewhere in Control Configuration are described in Other configuration screens.
PureMotionAll iscurrent anplanner S-curveoptions motionuse planner.configuration screens. No planner parameter-change commands are available. G38 commands select a planner; they do not edit its settings.
ThisThe referencescreenshots usesare from a development release. Additional tabs visible in the captures are outside this reference’s scope. Displayed values are examples, not confirmed factory defaults or operating limits.
Motor acceleration and jerk configuration procedures remain in the M31 setup sequence.manual. ItThis includesreference axisexplains configuration,their motoreffect motionon settings,planner finalchoices machinewithout tests,repeating advancedthose behavior, parameter reference, troubleshooting, and application notes. Wiring and installation procedures stay in the setup manual.procedures.
M31 Motion Control Setup Manual: Open Document
2 AxisPlanner Configuration— Main
2.1 IdentityPlanner and calibrationchoices
An Auxiliary axis performs a machine function outside coordinated toolpath motion, such as an automatic tool changer. It does not limit coordinated toolpath velocity or acceleration.
Rotary (degrees) onOpen Configure > Control > AxesPlanner > selected A/B/C axis > IdentityMain changes axis units from linear units to degrees. Mixed rotary and linear feed is interpretedview the sameplanner as linear feed. The unit setting does not establish a rotary radius or a degrees-to-distance conversion.overview.
Axis calibration establishes units and initial motion values. Those values are starting points, not verified operating limits for the installed machine.
Axis type and calibration setup: Open Document 
2.2motion Motionplanner Limits
The axis Motion Limits tab is read-only. It lists every motor assigned tocalculates the axis,commanded including mastertrajectory and slaveits motors, followed by Effective (minimum) values that control the axis motion. The supplied screen shows separate Feed and Rapid columns.
PureMotion’s native acceleration setting is Constant Acceleration Time in ms. Acceleration can also be displayed in units/s²; see Acceleration Entry.
In the supplied example, M3 (Motor 3 - Slave) has Jerk Time set to 0 ms. This limits the axis to 0 ms. A nonzero value on another motor does not override this limit. These are example settings, not defaults.
Compare each motor with the effective values to identify which settings constrain that axis. Different motors can supply different minimum values.
During coordinated motion, MachPro synchronizes the participating axes. Their applicable motor limits can constrain the complete move. Auxiliary axes are excluded. Use this tab to identify configured limits for an individual axis.
Coordinated-motion tests: Open Document
3 Motor Configuration
3.1 Units
Before you start
Calibration sets Units. If the displayed units are incorrect, correct the calibration. Motors, drives, transmissions, structure, load, lubrication, and mechanical condition set practical motion limits.
MachPro gives separate limits for:
Velocity and acceleration
Velocity is the maximum commanded axis speed. A move needs sufficient distance to reach this speed. Short moves can end before they reach maximum velocity.
Acceleration Entry switches between Units/s² and Time (ms). MachPro converts the displayed and entered value automatically when you select either button. This does not change the selected planner.
The actual acceleration settings are defined in the planner comparison. Velocityvelocity and acceleration mustchanges. operateMachPro reliablycalculates together.
Single-axistrajectories. tuningIts andplanner operatingcommands margins: Open Document
Coordinated Feed motion
Higher stable acceleration decreases move time for both long and short moves. Short moves can stay below target velocity and still finish soonerwork with higherevery acceleration. Feed acceleration can thus affect cycle time more than maximum Feed Velocity.
For PureMotion, a shorter stable Constant Acceleration Time increases acceleration for the applicable velocity change. Do not lower Feed Velocity solely because short moves do not reach it.
Participating-motor constraints are described in Motion Limits. For tests, use the setup link there.
Rapid and Jog motion
Rapid and Jog have no cutting load. Their reliable limits can differ from Feed limits. Higher Rapid velocity is most useful with sufficient travel. Acceleration can limit short positioning moves. Use Jog settings that give predictable starts, stops, and manual control. Jogging comes to an exact stop using the configured acceleration/deceleration settings.
Configuration procedures: Open Document
Motor Unitscompatible motion graph
The graph shows commanded Rapid and Feed profiles for one axis. It does not show coordinated motion between axes. There is no Jog motion graph. The displayed timeline extends until the profile reaches configured maximum velocity. An actual move can be too short to reach that velocity. It does not predict the duration of a specified machine move.
Trapezoidal shows the acceleration-rate profile. PureMotion includes both jerk transitions and its constant-acceleration part. See PureMotion Jerk Time.
The setup comparison graphics use red for Rapid, green for Feed, velocity vertically, and time horizontally. The graphs use the same scales for comparison. Use machine tests to measure speed and move time and to examine reliability. See Final machine test.
Select the motion planner
Configure > Control > Defaults sets startup modes, including Trajectory Mode and Initialization Codes. Configure > Control > General contains related control options. The supplied screens show current settings, not factory defaults.
Trajectory Mode sets the default planner. Include the applicable G38 command in each G-code file that needs a different planner. Use G38 commands only within G-code files. Do not enter them in Initialization Codes.
The following G-codes select the planner for subsequent motion. This is a modal selection.controller.
| Planner | ||
|---|---|---|
| PureMotion | G38.1 | |
| Trapezoidal | G38.2 | |
| Tangential Knife | G38.3 |
Each command stays active withinChoose the open file until another G38 command selects a different planner. Closing a file with a G38 command restores the default Trajectory Mode. MachPro also restores the default trajectory mode after shutdown and restart.
This G38 selection and file-close/restart behavior applies to all planners. Each planner’s configuration settings remain in effect until changed. Planner changes do not require a restart.
G38.3 turns on Tangential Knife mode. There are no additional Tangential-specific parameters. For shared CV behavior, see Trapezoidal CV Angle Mode. The shared configuration-tab label is retained in the table. See Path blending and exact stopplanner for the documentedrequired path accuracy and machine response. If both PureMotion and Trapezoidal controls.
For a long Trapezoidal move, the velocity profile has acceleration, constant velocity, and deceleration. A shorter move can have a triangular profile because deceleration starts before maximum velocity is attained.
PureMotion can decrease excitation caused by sudden acceleration transitions. Use path-control requirements and machine response to select the planner. If both planners give the required results,requirements, either planner is suitable.
PlannerFirst selectionestablish reliable motor velocity and retesting:acceleration settings. OpenDo Documentnot
PureMotion Jerk Time
Jerk is the rate ofplanner change ofto acceleration.compensate Jerkfor Timeincorrect controlsmachine the transitions into and out of constant acceleration and deceleration. Constant Acceleration Time specifies the constant-acceleration part.
The complete acceleration profile is:
Jerk transition → Constant Acceleration Time → Jerk transition
Total acceleration time = Constant Acceleration Time + (2 × Jerk Time)configuration.
For example,the 250default ms of Constant Acceleration Timeplanner and 25program msselection ofbehavior, Jerksee Time give 300 ms total. Deceleration uses the reversed profile, with no separate acceleration/deceleration settings.
PureMotion uses the configured settings across transitionsDefaults and junctionsG38 between moves. It incorporates velocity, acceleration, and jerk values. A shorter Constant Acceleration Time produces a higher acceleration rate for the applicable velocity change. A longer value produces a lower rate. Increasing Jerk Time makes transitions more gradual. 0 ms removes smoothing for that motion type.
PureMotion does not directly tune a vibration frequency. Jerk Time changes acceleration transitions that can excite vibration. Constant Acceleration Time affects acceleration rate, which can also excite mechanical resonance.
Longer transitions can increase move time. If smoothing permits higher stable velocity or acceleration, overall cycle time can decrease. Examine the complete machine cycle.
The M31 setup manual gives 10 ms as an initial tuning value and describes 50 ms as high. These are tuning guidance, not a factory default or a permitted maximum.
Jerk-time tuning: Open Document selection
Copy settings to other motors
Use copied values as starting points until tests confirm that the motors have equivalent operating limits. The copy-control procedure is in Motor Units setup: Open Document .
3.2.2 FinalAcceleration machinesmoothing test
There is no universal test program or validation code forand path error, vibration, accuracy, or cycle time. Tests and acceptance criteria depend on the machine, job specifications, and material properties.
Accept settings when production-motion tests meet position accuracy, drive stability, machining quality, and cycle-time requirements. There must be no position loss, faults, too much vibration, or mechanical instability.
Use air cutting to establish initial settings. Use representative cutting to establish final Feed limits. Machine response can change with travel position, direction, axis combination, tooling, workholding, and load. Significant changes require renewed verification.
Final testing and limiting-axis diagnosis: Open Document
4 Advanced Options and Information
4.1 Path blending and exact stopsmoothing
Acceleration smoothing controls changes inhow acceleration.acceleration begins and ends. Path smoothing permits deviation from the commanded path. These settingsare serveseparate differentcontrols:
- Motor Constant Acceleration Time and Jerk Time control the PureMotion acceleration profile. See Motor Units.
- PureMotion
Jerkpath-toleranceTimecontrolsforareacceleration smoothing.The supplied configuration screens showon the PureMotion tab. - Trapezoidal and Tangential corner feed rates use the shared CV controls.
3 Planner — PureMotion G38.1
Open Configure > Control > Planner > PureMotion G38.1.
3.1 Contour Error
Error Tolerance (units) sets the maximum deviation between the commanded path and the smoothed path that the planner executes. This is the global contour-error tolerance.
Choose a value that meets the machining accuracy requirement in the configured machine units. A larger tolerance permits more path deviation. Measure actual machining results after a change; see Verify setting changes.
PureMotion follows all configured tolerance and error limits, including across transitions and junctions between moves.
3.2 Accurate Arc
Use Accurate Arc to apply a much tighter error tolerance when cutting circles, without adding G-codes around those operations. A circle commonly consists of four 90° arcs. Set the sweep threshold so that those arcs qualify for the tighter tolerance. Other moves continue to use their applicable tolerances.
| Control | Function |
|---|---|
| Arc Error Tolerance (units) | Tighter tolerance used for qualifying arcs instead of the general |
| Min Sweep Threshold (deg) | Minimum total arc sweep that qualifies for the tighter arc tolerance. |
An arc qualifies when its total sweep meets or exceeds Min Sweep Threshold (deg). Select the threshold and tolerance for the arc accuracy required by the job.
In this capture, Arc Error Tolerance (units) is 0.001000 and Min Sweep Threshold (deg) is 85.000. Arcs with a total sweep of at least 85° therefore use the sample arc tolerance. These values are not recommendations.
3.3 Angle-Error Interpolation
Use Angle-Error Interpolation setsto per-cornertighten toleranceerror bytolerances cornerat larger direction changes, such as 90° corners or transitionnear angle.
SharpSmaller cornersdirection have larger angles and use tighter tolerances. Gentle corners have smaller angles andchanges can use looser tolerances forwhere the job permits, to maintain speed. +Select Addtolerances for the required machining accuracy.
The angle measures the change from the incoming commanded direction to the outgoing commanded direction. It is not the inside angle between the two path segments. Straight ahead is 0°; a right-angle turn is 90°; a full reversal is 180°.
The dashed line continues the incoming direction. The orange arc shows the change to the outgoing blue path. These are commanded-path illustrations, not smoothed paths or suggested tolerance settings.
Each table knot is an Angle (deg) and RemoveTolerance (units) managepair.
| Control or display | Function |
|---|---|
| Angle (deg) | Corner or transition angle for the |
| Tolerance (units) | Allowed error at that knot |
| Chart | Shows the resulting tolerance by corner angle. The red dashed line shows global Error Tolerance |
The chart generateddetermines from the knots controls motionbehavior during program execution:
- An empty
table,tableorusesanglobal Error Tolerance (units). - An angle below the smallest
knot,knot also uses the globalError Tolerance, shown by the red dashed line.tolerance. - At a knot,
usetheitsplannerspecifieduses that knot’s tolerance. - Between adjacent knots,
interpolatethe planner interpolates tolerance linearly. - Above the largest-angle knot,
usethe planner uses that last knot’s tolerance.
Examples
The tolerancecurrent capture has an empty knot table and errorglobal limitsError configuredTolerance by(units) of 0.050000. The red dashed line is therefore flat at 0.050000 across the customer.displayed Select tolerances from the permitted machining deviation. Then measure the path and examine machining quality.angles.
These are sample configuration values, not defaults or recommended settings. Tolerance uses the configured machine units.
| Angle (deg) | Tolerance (units) |
|---|---|
| 45.000 | 0.030000 |
| 70.000 | 0.015000 |
| 80.000 | 0.010000 |
| 95.000 | 0.009000 |
BelowThis 45°,sample this exampleconfiguration uses 0.050000 units.below Above45° and 0.009000 above 95°. Between 45° and 70°, ittolerance useschanges linearly from 0. 009000030000units.to Arcs0.015000. These examples explain the controls; they are not defaults or recommended settings.
3.4 Related motor settings
PureMotion incorporates configured velocity, acceleration, and jerk values. Its path-tolerance controls do not replace these motor limits.
For Constant Acceleration Time, Jerk Time, and the effect on machine response, see Motor Units. For an axis with amultiple totalmotors, sweepalso ofcheck atMotion least 85° use 0.001000 units instead of general contour error.Limits.
Trapezoidal4 CVPlanner Angle— Mode
Trapezoid G38.2/Tangential G38.3
Trapezoidal CV is not a precise path-control tool. Its presetOpen PathConfigure error> toleranceControl is> anPlanner input> to the feedrate calculation, not a guarantee of actual path accuracy. Use PureMotion when precision is required. Its path-tolerance controls are described above.
CV means constant velocity. The Trapezoid G38.2/Tangential G38.3. Every setting on this tab containsapplies to both planners. Tangential has no additional settings.
4.1 CV Angle Mode,
CV means constant velocity. The Enable and Disable controls.buttons Its table pairs Angle (deg) with Feedrate (u/min), where u/min means configured units per minute. Thecontrol CV feedrateAngle vsMode. angleThe graphstatus plotsat thosethe entries.top shows its current state.
When CV is disabled in Trapezoidal mode, every angle uses exact stop. WhenThe shared settings also apply to Tangential moves.
Trapezoidal CV is enabled,not ita alsoprecise appliespath-control totool. Tangential planner moves.
The CV table givesapproximates afeed close approximation of feedraterate at different angles. Other motion behavior follows the configured Trapezoidal planner’ssettings. Use PureMotion when precision is required.
4.2 Angle/feedrate table and graph
| Field or display | Function |
|---|---|
| Angle (deg) | Direction-change angle for the table row |
| Feedrate (u/min) | Approximate feed rate at that angle, in configured |
| CV feedrate vs angle | Graph of the table values |
Use the table and graph to examine corner feed rates. The supplied capture shows zero values and a flat graph. It does not show a populated machining configuration or establish recommended values.
The preset fills Use the axes that apply to the intended motion when you select Include axes. The displayed formula uses the smallest motor acceleration and Preset4.3 Bulk tools — Preset: MachMotion CV formula
everythe rowtable from a single tolerance and the included axes.
Control
Function
Path error tolerance
,Input to the
includedtable axes,calculation, and the slowest enabled motor. The screen identifies toleranceshown as units per profile.profileIts
Include axes
Selects X, Y, Z, A, B, and C for the preset calculation
Compute & Fill
Calculates feed rates and fills the table
clampslimits the result to the slowest motor'motor’s maximum velocity.IncludePath axeserror tolerance selectsis X,a Y,calculation Z,input. A,It B,does not guarantee that actual machining stays within that error. Measure accuracy and C.cycle Computetime &after Fillpopulateschange; thesee table.Verify setting changes.
CV tolerance example
TheEarlier supplied graphsexamples useused CV Angle Mode enabled, X/Y/Z included, and a maximum feedratefeed rate of 300 u/min. Reducing Path error tolerance from 0.001 to 0.0001 units produces lower table feedrates at the same angle:min:
| Angle (deg) | ||
|---|---|---|
| 2 | 300.0000 | 217.4084 |
| 10 | 137.2915 | 43.4154 |
| 30 | 45.1778 | 14.2865 |
TheReducing tolerance from 0.001 exampleto reaches0.0001 lowers the calculated corner feed rates while retaining the 300 u/min capmaximum. The first example reaches that maximum at 0–4°.; Thethe 0.0001 examplesecond reaches it at 0–1°. TighterThese toleranceare decreasescalculated examples, not measured machining results or defaults.
5 Other Configuration Screens
5.1 Defaults — Trajectory Mode
Configure > Control > Defaults > Trajectory Mode sets the generateddefault cornerplanner. feedratesInitialization whileCodes retainingon the Defaults screen set other startup modes. Use G38 commands only in G-code files; do not put them in initialization strings.
Include the applicable G38 command in each file that needs a planner other than the default. The selection is modal: it stays active until another G38 command selects a different planner within that open file.
Closing a file that contains a G38 command restores the default Trajectory Mode. MachPro also restores the default after shutdown and restart. This behavior applies to all planners.
Each planner retains its configuration settings until the customer changes them. Planner changes do not require a restart.
Default-planner selection procedure: Open Document
5.2 Axes — motor — Units
Use Configure > Control > Axes > selected axis > selected motor > Units for motor velocity, acceleration, and jerk settings. These configuration procedures remain in the M31 setup manual.
Calibration establishes units and initial motion values. If the units are incorrect, correct calibration. An Auxiliary axis is outside coordinated toolpath motion and does not limit it. Rotary (degrees) on the axis Identity tab changes linear units to degrees. Mixed rotary and linear feed is interpreted the same maximum.as Theselinear arefeed; configurationthe examples,setting does not defaultsestablish ora measuredrotary machineradius.
Axis Measure machining accuracyidentity and cycle time. See thecalibration: Final machineOpen testDocument .
Exact stopVelocity and Acceleration Entry
MachPro provides separate settings for Feed, Rapid, and Jog motion.
| Setting | Trapezoidal | PureMotion |
|---|---|---|
| Native acceleration setting | Acceleration rate, units/s² | Constant Acceleration Time, ms |
| Alternate display | Related Time (ms) | Related Units/s² |
| Jerk Time | Not used | Separate Feed, Rapid, and Jog values |
Acceleration Entry switches between Units/s² and Time (ms). MachPro converts the value automatically. This changes the display and entry representation, not the selected planner.
Velocity and acceleration must work reliably together. For tuning, operating margins, and copying values to other motors, use the M31 procedure: Open Document
PureMotion acceleration and jerk
Jerk is the rate of change of acceleration. Jerk Time controls the transition into and out of constant acceleration. Constant Acceleration Time controls the duration of the constant-acceleration portion.
Total acceleration time = Constant Acceleration Time + (2 × Jerk Time).
For example, 250 ms plus two 25 ms jerk transitions gives 300 ms total. Deceleration uses the reversed profile. MachPro does not provide separate acceleration and deceleration settings.
For the applicable velocity change, a shorter Constant Acceleration Time increases acceleration. A longer Jerk Time makes transitions more gradual. A value of 0 ms removes the PureMotion smoothing effect for that motion type.
PureMotion does not directly tune a vibration frequency. Both acceleration rate and acceleration transitions can excite the machine. Examine position accuracy, drive stability, machining quality, and cycle time as well as vibration.
Jerk-time tuning procedure: Open Document
Rapid and Jog settings
Rapid and Jog have no cutting load, so their reliable limits can differ from Feed limits. Use Jog settings that keep starts, stops, and manual control predictable. Jogging stops exactly with the configured acceleration/deceleration profile.
Motor Units graph
The graph shows commanded Rapid and Feed profiles for one axis. There is no Jog graph or coordinated multi-axis graph. Its timeline extends until the profile reaches maximum velocity. It does not predict the duration of a specified-distance machine move.
Use machine tests to establish actual move time and reliability. The M31 comparison graphics use red for Rapid, green for Feed, velocity vertically, and time horizontally.
5.3 Axes — Motion Limits
Use the read-only Motion Limits tab to examine the effect of motor settings. It lists assigned motors, including master and slave motors, and the Effective (minimum) values that control the axis. Feed and Rapid columns show velocity, acceleration, and jerk values.
Different motors can supply different effective limits. If one assigned motor has Jerk Time set to 0 ms, every motor on that axis uses 0 ms. A nonzero setting on another motor does not override it.
During coordinated motion, participating-motor limits can constrain the complete move. Higher stable acceleration can reduce cycle time, particularly on short moves that cannot reach maximum velocity. Do not lower Feed Velocity solely because short moves do not reach it.
Coordinated-motion tests: Open Document
5.4 Program cutting-mode selection
G09, G61, and G64 controlselect cutting behavior above the motion-motion planner. They do not select the planner layer.or change its configured values. They apply with Trapezoidal and PureMotion.PureMotion; PureMotion contour-errorstill follows its configured tolerance remains the maximum allowed planner path error. The published reference documents Trapezoidal behavior: Open Document limits.
| Command | ||
|---|---|---|
| G09 | Non- | |
| G61 | ||
| G64 |
Exact stop keeps commanded corners but repeated stops can increase cycle time and leave witness marks. G64 permits corner rounding. Deviation depends on feedrate and machine acceleration. See Trapezoidal CV Angle Mode for its configuration and precision limitations.
Exact stop uses the acceleration/deceleration profile of the selected motion planner. TrapezoidalRepeated usesstops itscan configuredincrease accelerationcycle rate. PureMotion uses its configured Constant Acceleration Timetime and Jerkleave Timewitness marks. CV can permit corner rounding; see CV Angle Mode.
MachPro G-Code and M-Code Reference: Open Document
PureMotion runtime parameter changes
NoIf planner parameter-change commands are currently available. There is no documented method to change planner parameters during runtime. If commands become available, the software developers will supplydocument athem separate document.separately.
4.2
6 Verify Setting Changes
Use tests that match the machine, job requirements, and specialmaterial. motionNo
Look-aheaduniversal examinestest aprogram variableestablishes path error, vibration, accuracy, or cycle time intervalfor inevery future blocks. It examines enough future motion to stay on path or make a controlled stop. Look-ahead has no exposed command or queue-synchronizing commands.machine.
Threading,Accept spindlesettings motion,only when tests meet position accuracy, drive stability, machining quality, and arccycle-time motionrequirements. followUse theair trajectorycutting offor theinitial activechecks planner.and representative cutting for final Feed settings. Repeat applicable tests after significant changes.
FeedFinal Holdmachine-test and Cycle Stop are controlled stops. E-Stop disables all drives at the MachPro software level. For hardware E-Stop protection, use a safety relay to stop all motion safely. The M31 setup manual also documents the J6 jumper option for machines operated without E-Stop devices:procedure: Open Document
5
5.1 Parameter locationsposition and definitions
communication Thischecks, table is AI deduced and does not include all parameters that will be available
==Add release-specific factory defaults, permitted ranges, and increments when supplied. The example and tuning values are not those specifications.==
5.2 M31 motion diagnostics
Openopen Diagnostic > M31 to view the. M31Following StatusError windowis supplied with the M31 software.
MachPro’s Machine I/O diagnostics show the names entereddisplayed in User Description. For EtherCAT I/O slices, the leading address number identifies the device coupler. The fully qualified physical-port address uses that coupler number. Output addresses and router installation mappings are described incounts. Output Setup (J10) in the M31 setup manual: Open Document
| GCode Message Cntr | |
The window also has an axis selector and Clear Position control. Output indicators are interactive: the screen states that clicking an output LED activates it. These indicators are controls.
Use the position and following-error displays to find motion errors, and communication/buffer indicators when investigating interrupted motion. The supplied captures show no connection to a physical M31 board.setup Themanual: latest annotatedOpen captureDocument highlights Properties on the left and GCode Message Cntr in the middle. Use connected-machine readings for diagnosis.
5.3 Unresolved questions
67 Troubleshooting
6.7.1 Vibration or oscillation
VibrationCompare canmotor indicateConstant tooAcceleration much motion demand, sudden transitions, mechanical defects, resonance, drive instability, or cutting-condition problems. DefinitionsTime and physicalJerk effectsTime arewith the explanations in MechanicalMotor Units. PureMotion can reduce response.
PureMotionto addressessudden acceleration-transitionacceleration excitation.transitions. It does notcannot correct mechanical defects or every cause of chatter. Cutting-only vibration can originate in tooling, workholding, spindle condition, or cutting parameters.chatter.
DiagnosticUse steps:the existing diagnostic procedure before further tuning: Open Document
6.7.2 Programmed feed rate is not reached
PossibleExamine constraintsthe includeselected planner’s path controls, the CV table when applicable, motor acceleration, move length, acceleration, participating-motor limits, direction changes, and pathMotion control.Limits. A short move can end before the machineaxis reaches the programmed feed rate. See Short moves, Motion Limits, and M31 motion diagnostics.
DiagnosisSingle-axis and machine tests:tuning: Open Document
6.7.3 Cycle time increases with PureMotion
SeeLonger jerk transitions can increase move time. Smoothing can also permit higher stable velocity or acceleration and reduce overall cycle time. Review PureMotionmotor Jerkacceleration Timeand jerk for, the transition-time/performancepath tradeoff. The tuningtolerances, and testingmeasured proceduresmachining areresults linkedbefore there.changing a value.
78 Application Notes
7.8.1 Vibration, oscillation,Vibration and mechanicalmotor conditionsettings
OscillationUse is repeated motion about an equilibrium position. Vibration is unwanted oscillatory motion, suchvibration as shaking,one buzzing,indication chatter,of ormachine ripple.
MechanicalChanges looseness,to wear,motor too much backlash, unsatisfactory lubrication, damaged components,acceleration and unstable drivesjerk can produce vibration that planner tuning cannot correct. Correct known defects before optimizing motion.
Vibration does not change physical inertia or moving mass. For linear motion, force = mass × acceleration. Acceleration and oscillatory motion makealter reaction forces that can increaseforces, structural deflection, and drive load,load. positionCorrect error,wear, looseness, backlash, lubrication problems, or followingdamaged error.
Mechanicalbefore responsefinal alsotuning. depends on stiffness, load, position, direction, spindle operation, tooling, workholding, and cutting forces. Reduced vibration is one test result. Apply allSee acceptanceVibration criteriatroubleshooting.
7.8.2 Cutting load and planner choice
UseChoose the distinctionsplanner inand tolerances for the job’s accuracy and finish requirements. Use representative cutting results to establish final Feed limits. Rapid and Jog limits can differ because those moves have no cutting load. See Rapid and Jog motionsettings, the criteria in Final machine test, and theVerify comparisonSetting in Select the motion plannerChanges. Use the path-precision distinction when selecting a planner for precision machining.