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Plasma Arc Machining) . , . 15 .2.2. , . , 2.2. . 2.2 (, , ) , . . . 2.3. , , . . 2.3 , . . 2.2 . . .2.3. :, , . . , . , . . 25 C, 2.4. 2.4 , . : :I (A) - , - , . ,r (cm) - . . , .2.4. :,,,, , , - (, ,), (. Plasma Surface Engineering PSE), .2.5. . . , 2.5. 5 mm CNC 15 mm. . 2.5 . ( ) . ( ). , . , . . , . , , , , . ( , ). . ( ) . . . . , . . . ,3 do m min, ,5 3 m min. 2.1 3 3 mm 5. 2.1 Hypertherm- . ( mm) . , 25 mm, 3-5 .2.6. CNC CNC ... , 2.6 . : , . 2.6 CNC CNC :- : CNC 2x6mm,- : ,- : 2x2x6mm,- : 1x266x65mm,- 5 1 bar, ,- Hypertherm 5A,- 2mm. 1x266x65mm Y Y. Y 2 , 2.. 2. CNC Z . Z THC(. Torch Height Control).THC . , . . , THC . . . . :-PC , , ().PC (RS232) (LPT). RS45 , PC . . 4 Nema 23, 2.. 4V. GECKO 2.. 2. Nema 23 2. Gecko G251Gecko G251 . . 2.2 . 2.2 Gecko G251 2.1:- ,- ,- - . 2.1 2.11 . 45 5 14V. 2.11 ( ) . 1 bar. . () . j, . (, , ). 2.11a. 2.11 .) .) .) . , , . . . . . 2.12. . 2.12 : 1( ), 2( ),3 (), 4() 5( ). 2.13 . . . 3,4 5. ( 3) 1 2mm . . . .2.. . (mm min) . . P (PI U) . , ( , , ). () . , , . , , . NN12. . , , . , . , . , . . : , , , , . , . . , . . . . 2.14 (1), (2) (3) DIN-EN-13. . :KtKbSt- , , . 2.15 3. CNC , ,, . , , , CNC , , . 3.1 CNC CNC . CNC , , . , . , . , . CNC . (. Computer-aided technologies CAx) . CAx (. Product Lifecycle Management PLM), j (. Computer-aided design CAD) (. Finite element analysis FEA), (. Computer-aided manufacturing CAM) . CAD CAM- . . CAD- CAM-. , CAD- u CAM o CNC .3.1. 3D CAD, , 3D SolidWorks. SolidWorks 3D CAD , , . , , , j, , j, , .SolidWorks , , . , , . SolidWorks 3D CAD , , .SolidWorks 3D CAD , . 3D . , , . . (. eDrawings) 2D 3D . . , , . , . . . () .SolidWorks 3D CAD :, , , , , , , , , , , , ,, , , . CAD CAM , CAM-.3.2. CAMCAD CNC , . . CAM-.CAM , , . CAM : , , , , , , , NC . CAM CAD . CAD , , , , , , CAM , . . , . , , , , . , . CAM , , . NC , , CAM . , , , HTML . , , , : , , , . . , , , . . , , , , , .CAM , , . , , , .3.2.1. CAM CNC SheetCam TNG V6.1.. CAM ,, .SheetCam CAM , . . , 3.2. . Options. 3.2 SheetCam , 3.3: a e (, ) (, ). 3.3 , .. CAM CNC . , C (. Cutter Location Data file). , CAM , CNC, . 3.4 , , , , . CNC . . X Y . 3.5 CNC . 3.6 CNC CAM CAD- DXF (. Drawing Exchange Format), Autodesk. CAD AutoCAD- . DXF 2D , , , . DXF . SheetCam TNG V6.1.. 3. ) , NC . CAM- , . 3. ) , ., . . 3. . ( , e . , , 3. 3. ) . . , 3. ). . . 5. , , . (. Layer) . . . , . o 3.. , . 3. . . . CAM- . : , , , a , , . 3.1 . . . , . . . 2 2, 1. , 3.11. 3.11 CAM , . , . ( ), . . , , . . 3.13. SheetCam , 3.12. . . , . . 3.12 . . SheetCam 3.13 . 3.13 SheetCam- , . . CNC 3.1 3.13. :N ,G ,G1 ,G2 ,G3 ,G4 ,G21 ,G2.1 ,G4 ,G53 ,G ,G2 ,S1 (HC),S2 (HC),X, Y,Z ,F ,M3 ,M5 . 3.1 CNC N1 (Filename: Kvadarat rupe.tap)N2 (Post processor: MP3-DTHCIIscriber2 prepravljani 1m.scpost)N3 (Date: 4 1 214)N4 G21 (Units: Metric)N5 F1N6 G53 G G4N S1 (DTHC is off)N (Part: Kvadarat rupe)N (Operation: Outside Offset, , T4: Alat broj 1)N1 G X. Y.N11 Z.N12 (tool number: 4 Feedrate: 3)N13 (No Stored DTHC parameters in this POST)N14 G Z1.N15 X21.4 Y6.63N16 Z3.N1 G2.1 Z3. F2.N1 G2 Z.N1 G Z.N2 G2 Z.N21 G Z3.N22 M3N23 G4 P1N24 G1 Z1.5 F1.N25 G2 X211. Y13.363 I. J6.4 F3.N26 S2 (DTHC is on)N2N2N2N3N31N32N33N34N35N36N3N3N3N4N41N42N43N44N45N46N4N4N4N5N51N52G1 Y11.G3 X21. Y111. I-1. J.G1 X1.G3 X. Y11. I. J-1.G1 Y1.G3 X1. Y. I1. J.G1 X21.G3 X211. Y1. I. J1.G1 Y13.363G2 X21.4 Y1.63 I6.4 J.M5G4 P2G Z1.X13.6 Y.6Z3.Z3.M3G4 P1G1 Z1.5 F1.G2 X11. Y4. I6.4 J. F3.I. J-24.X116.4 Y.6 I. J-6.4M5G4 P2G Z1.X. Y. NC CAM-, CNC . MACH3 3.14. CNC . , 3.14 , MACH34. 4.1. ,,, ,, . . . , . . , , , , . . , , , . : , , ,SCARA , . : ( ) ( ). : , , ( ). . . , , . j , . . . . , :a ( ), , , . , : ,, . . . , . e . , . , . .4.2. , , . , 4.1. : , : . 4.1 . n . :,, . . . . . 4.2 () () 4.3 () () se . . . 3 (x, y, y). (,,) . 336 . 4, 5 6 . : . . , . qi, i1,2,...,n :(4.1) 4.4 . x, y z, (,,), 4.4: - (ROLL) - (PITCH) - (YAW) 4.4 4.5 z , y ( ), x ( ). s :x, y z , , , () :(4.2) s q . :(4.3) :(4.4) 4.6 , . , .4.3. , , . . . . . , : . , . : , . . : , . : . . . : , . : , . 1kHz, 1ms. , , . , , . , . , o .4.4. . CNC : , , , , . 4. ( ), . ( ) . , , . (. ff line) (. n line) . , j . : (. oint to point , (. tracking control) , . . . : , . . . .4.4.1. PD . (. feedbaccontrol) , PD . :(4.5) : , , , , , , . 4. PD . . : . , ( ) . .4.4.2. : . (. feedforwardcontrol) : ( PD ). . . :(4.6) ( ). 4. 4.. PD.4.4.3. (. computed torque control) online :(4.) :(4.)a . , . . , , . : , , , . 4.1 : , , (, ), , on-line . . : (. Model Reference AdaptiveControl) (. Selftuning AdaptiveControl). .4.5. , . , , . , : , , , , , , . . . : ( ), (, , ),CNC ( ), , , . . . :, . CNC . . , 4.11, :, , . 4.11 (1), (2), (3), (4), (5) . . . ( ) , , 12. 4.12 . . . . . : . 4.13 (1) , (2) , (3) (4) . . , 4.14 . . 4.13 4.14 Schmalz, 1N