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// 适用于发那科，三菱，华中，广数等ISO系统
//宏联动原理：
//用宏运算实现加工过程中RTCP刀尖跟随实时计算,联动加工
//将一个实数截断为6位精度
double r6(double data)
{
CString s;
s.Format("%.6f", data);
s.Trim();
return atof(s);
}
//保留小数点后4位,并去除冗余0
CString d0(double data)
{
CString s, z1, z2, z3, z4;
if (fabs(data) != 0.0)
{
s.Format("%.4f", data);
int pos = s.Find('.');
if (pos != -1)
{
z1 = s.Mid(pos + 4, 1);
z2 = s.Mid(pos + 3, 2);
z3 = s.Mid(pos + 2, 3);
z4 = s.Mid(pos + 1, 4);
if (!z4.Compare("0000"))s.Delete(pos + 1, 4);
else if (!z3.Compare("000"))s.Delete(pos + 2, 3);
else if (!z2.Compare("00"))s.Delete(pos + 3, 2);
else if (!z1.Compare("0"))s.Delete(pos + 4, 1);
}
} else s = "0.";
return s;
}
// 保留小数点后6位,并去除冗余0
CString e0(double data)
{
CString s, z1, z2, z3, z4, z5 ,z6;
if (fabs(data) != 0.0)
{
s.Format("%.6f", data);
s.Trim();
int pos = s.Find('.');
if (pos != -1)
{
z1 = s.Mid(pos + 6, 1);
z2 = s.Mid(pos + 5, 2);
z3 = s.Mid(pos + 4, 3);
z4 = s.Mid(pos + 3, 4);
z5 = s.Mid(pos + 2, 5);
z6 = s.Mid(pos + 1, 6);
if (!z6.Compare("000000"))s.Delete(pos + 1, 6);
else if (!z5.Compare("00000"))s.Delete(pos + 2, 5);
else if (!z4.Compare("0000"))s.Delete(pos + 3, 4);
else if (!z3.Compare("000"))s.Delete(pos + 4, 3);
else if (!z2.Compare("00"))s.Delete(pos + 5, 2);
else if (!z1.Compare("0"))s.Delete(pos + 6, 1);
}
} else s = "0.";
return s;
}
//范例:
/*
1. UG后处理的程序:
T1 M6
G0 G90 G54 X-5.0133 Y-11.6639 A30. C90. S5000 M3
G43 Z29.8282 H1 M8
G1 Z.953 F10000.
X-5.0089 Y-11.8602 F2000.
X-4.9968 Y-12.0562
X-4.977 Y-12.2515
............
X0. Y-16.6506
C90.3516
C90.7031
C91.0547
..........
X5.0089 Y-11.8602
X5.0133 Y-11.6639
Z29.8282 F10000.
G91 G28 Z0.
G91 G28 X0. Y0. M9
G91 G28 A0. C0. M5
M30
%
2. 将UG后处理的NC程序转换成宏联动的NC程序:
T1 M6
#101=#5261-#5241
#102=#5262-#5242
#103=#5263-#5243
(将分中坐标系G56在A0,C0处机床坐标写入G54里面)
G90 G10 L2 P1 X110.837 Y59.357 Z-220.
G0 G90 G54 X[-#101+#102-5.0133] Y[-#102-0.866025*#101+0.5*#103-11.6639] A30. C90. S5000 M3
G43 Z[0.5*#101-0.133975*#103+29.8282] H1 M8
G1 Z[0.5*#101-0.133975*#103+0.953] F10000.
X[-#101+#102-5.0089] Y[-#102-0.866025*#101+0.5*#103-11.8602] F2000.
X[-#101+#102-4.9968] Y[-#102-0.866025*#101+0.5*#103-12.0562]
X[-#101+#102-4.977] Y[-#102-0.866025*#101+0.5*#103-12.2515]
............
X[-#101+#102] Y[-#102-0.866025*#101+0.5*#103-16.6506]
X[-1.006137*#101+0.999981*#102] Y[-1.005314*#102-0.866009*#101+0.5*#103-16.6506] Z[0.499991*#101+0.003068*#102-0.133975*#103+0.953] C90.3516
X[-1.012271*#101+0.999925*#102] Y[-1.010627*#102-0.86596*#101+0.5*#103-16.6506] Z[0.499962*#101+0.006136*#102-0.133975*#103+0.953] C90.7031
X[-1.018407*#101+0.999831*#102] Y[-1.015941*#102-0.865879*#101+0.5*#103-16.6506] Z[0.499915*#101+0.009203*#102-0.133975*#103+0.953] C91.0547
.........
X[-#101+#102+4.9968] Y[-#102-0.866025*#101+0.5*#103-12.0562]
X[-#101+#102+5.0089] Y[-#102-0.866025*#101+0.5*#103-11.8602]
X[-#101+#102+5.0133] Y[-#102-0.866025*#101+0.5*#103-11.6639]
Z[0.5*#101-0.133975*#103+29.8282] F10000.
G91 G28 Z0.
G91 G28 X0. Y0. M9
G91 G28 A0. C0. M5
M30
%
*/
//算法的C/C++语言描述:
#define RAD ((double)0.01745329252) /*角度转弧度RAD=π/180.0=4.0*atan(1.0)/180.0*/
typedef enum { AC, BC, A4, B4 }mach_t; //机床类型：五轴AC,五轴BC,四轴A,四轴B
typedef struct { double x, y, z; }xyz_t;
typedef struct { double x, y; }xy_t;
typedef struct { double x, y, z, a, b, c; }pos_t;
typedef struct
{
pos_t pos; //NC程序行中的X,Y,Z,A,B,C数据
xyz_t rcp; //旋转中心点G55,五轴机床是四轴五轴中心线交点,四轴机床是四轴中心线上的任意一点
xyz_t mcs; //工件/分中坐标系G56
xy_t dev; //机床装配偏差,主轴端面中心点与旋转中心点的XY偏差,通常设置为0,忽略不计
}rtcp_t;
//计算G54,相当于G68.2,定轴加工
pos_t Calc_G54(rtcp_t data)
{
pos_t pos;
double e, x, y, z, u, v, w;
double sin4, cos4, sin5, cos5;
u = data.mcs.x - data.rcp.x;
v = data.mcs.y - data.rcp.y;
w = data.mcs.z - data.rcp.z;
switch (machine)
{
case AC:
sin4 = sin(data.pos.a*RAD);
cos4 = cos(data.pos.a*RAD);
sin5 = sin(data.pos.c*RAD);
cos5 = cos(data.pos.c*RAD);
e = v*cos5 - u*sin5;
x = u*cos5 + v*sin5;
y = e*cos4 + w*sin4;
z = w*cos4 - e*sin4;
pos.x = x + data.rcp.x - data.dev.x;
pos.y = y + data.rcp.y - data.dev.y;
pos.z = z + data.rcp.z;
pos.a = data.pos.a;
pos.c = data.pos.c;
break;
case BC:
sin4 = sin(data.pos.b*RAD);
cos4 = cos(data.pos.b*RAD);
sin5 = sin(data.pos.c*RAD);
cos5 = cos(data.pos.c*RAD);
e = u*cos5 + v*sin5;
x = e*cos4 - w*sin4;
y = v*cos5 - u*sin5;
z = w*cos4 + e*sin4;
pos.x = x + data.rcp.x - data.dev.x;
pos.y = y + data.rcp.y - data.dev.y;
pos.z = z + data.rcp.z;
pos.b = data.pos.b;
pos.c = data.pos.c;
break;
case A4:
sin4 = sin(data.pos.a*RAD);
cos4 = cos(data.pos.a*RAD);
x = data.mcs.x;
y = v*cos4 + w*sin4;;
z = w*cos4 - v*sin4;
pos.x = x - data.dev.x;
pos.y = y + data.rcp.y - data.dev.y;
pos.z = z + data.rcp.z;
pos.a = data.pos.a;
break;
case B4:
sin4 = sin(data.pos.b*RAD);
cos4 = cos(data.pos.b*RAD);
x = u*cos4 - w*sin4;
y = data.mcs.y;
z = w*cos4 + u*sin4;
pos.x = x + data.rcp.x - data.dev.x;
pos.y = y - data.dev.y;
pos.z = z + data.rcp.z;
pos.b = data.pos.b;
break;
}
return pos;
}
//计算RTCP,刀尖跟随,相当于G43.4,联动加工
pos_t CMy_5x_RTCP_Dlg::Calc_Rtcp(rtcp_t data)
{
pos_t rtcp, g54 = Calc_G54(data);
rtcp.x = g54.x - data.mcs.x + data.pos.x;
rtcp.y = g54.y - data.mcs.y + data.pos.y;
rtcp.z = g54.z - data.mcs.z + data.pos.z;
switch (machine)
{
case AC:
rtcp.a = data.pos.a;
rtcp.b = 0.0;
rtcp.c = data.pos.c;
break;
case BC:
rtcp.a = 0.0;
rtcp.b = data.pos.b;
rtcp.c = data.pos.c;
break;
case A4:
rtcp.a = data.pos.a;
rtcp.b = rtcp.c = 0.0;
break;
case B4:
rtcp.b = data.pos.b;
rtcp.a = rtcp.c = 0.0;
break;
}
return rtcp;
}
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