Bosch 6000 User's Guide download pdf (Page 171)

156

6000 Series Programmer's Guide

Coordinate systems allow the assignment of an arbitrary X-Y position as a reference position

for subsequent absolute end-point specifications. The controller allows the use of two

coordinate systems for use with absolute coordinate programming. These are called the Work

coordinate system and the Local coordinate system. These are specified with the PWC and PLC

commands. Neither coordinate system needs to represent the actual absolute position of the

axes when the path actually executes.

The Work and Local coordinate systems are provided to allow absolute end-point definition of a

segment without needing to know the actual position of each axis when the segment is

executed. If no PWC command precedes the first segment command when a path definition

begins, the controller will place the start of the first segment at location (0,0) in the Work

coordinate system. By using the PWC xpos,ypos command, the programmer defines

subsequent absolute end-points to refer to the Work coordinate system, and also locates that

coordinate system such that the starting position of the next segment is at (xpos, ypos) of the

Work coordinate system.

The Local coordinate system is provided so that if a section of a path is to appear in multiple

locations along the path, the segments that compose that section can be programmed in

absolute coordinates. By using the PLC xpos,ypos command, the programmer defines

subsequent absolute end-points to refer to the Local coordinate system, and also locates that

coordinate system such that the starting position of the next segment is at (xpos, ypos) of the

Local coordinate system.

A single path definition may include both absolute and incremental programming, and be

required to switch between Work and Local coordinates several times. At any point along a

path definition, coordinates may be switched from absolute to incremental, or from

incremental to absolute. When switching to absolute, all subsequent end-point specifications

are assumed to be absolute with respect to the coordinate system in effect at that time. This

remains true until the reference system is switched to incremental, or to a new absolute

reference.

When switching from Work coordinates to Local coordinates, the Local X and Y start

positions of the following segment must be specified with the PLC command. When starting

a path definition with Work coordinates, or when switching to Work coordinates, the starting

position of the next segment may either be specified or assumed. The controller toggles

between the Work coordinate system and the Local coordinate system with the PL command.

Ease of programming results from the ability to switch between absolute and incremental, and

to re-define the coordinate systems between sections of a path. This allows individual sections

of path definition to have Local coordinate systems, yet still be integrated into the complete

path.

Line Segments

Lines are the simpler of the two path segment types. The placement, length, and orientation of

the line is completely specified by the end-point of the line segment and the end-point of the

previous segment. As described above, end-points can be specified with absolute or incremental

coordinates.

5000

8660

(0,0)

(8660,5000)

The example below is specified with incremental coordinates and results in a line segment

10,000 steps in length, at 30 degrees in the X-Y plane.

PLIN8660,5000 ; Line segment to (8660,5000) — see illustration at left

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Bosch 6000 User's Guide Page 171

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