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9.5-AXIS MACHINING FUNCTION B-64483EN-1/03

- 1434 -

9 5-AXIS MACHINING FUNCTIONChapter 9, “5-AXIS MACHINING FUNCTION”, co!"!t! o# the #o$$o%"& !ect"o!'

9(1 TOO) C*NT*+ OINT CONT+O)(((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((1434

9( HIGH-S**. SMOOTH TC(((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((14/5

9(3 *XANSION OF AXIS MO0* COMMAN. IN TOO) C*NT*+ OINT CONT+O)(((((((((((152

9(4 TOO) OSTU+* CONT+O) (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((151

9(5 CUTTING OINT COMMAN. ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((1519

9(2 3-.IM*NSIONA) MANUA) F**. ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((153

9( TI)T*. O+ING )AN* IN.*XING ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((1524

9(/ INC)IN*. +OTA+6 AXIS CONT+O) ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((122

9(9 3-.IM*NSIONA) CUTT*+ COM*NSATION(((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((1232

9(1 TH*+MA) G+OTH COM*NSATION A)ONG TOO) 0*CTO+ (((((((((((((((((((((((((((((((((((((1229

9(11 *XANSION OF TH* A6 TO S*T 5-AXIS MACHINING FUNCTION A+AM*T*+S((12/39(1 MACHIN* CONFIGU+ATION S*)*CTING FUNCTION(((((((((((((((((((((((((((((((((((((((((((((((((((((((12/

9.1 TOOL CENTER POINT CONTROL

OverviewO a 5-a7"! 8ach"e ha"& t%o rotat"o a7e! that t:r a too$ or ta;$e, th"! #:ct"o per#or8! too$ $e&th

co8pe!at"o co!tat$, a= e7ert! cotro$ !o that the too$ ceter po"t

8oe! a$o& the !pec"#"e= path( ?See F"&( 9(1 ?a@(@There are three ="##eret tp"ece(

A coor="ate !

coor="ate !

A coor="ate !e!

CAM pro&ra88"& ea!

pro&ra88"& coor="ate !

I a< ca!e, the c:tt"& !pee= ca ;e cotro$$e= ea!"$< ;eca:!e the too$ ceter po"t 8oe! at a !pec"#"e=

!pee= %"th re!pect to the ta;$e ?%or>p"ece@(The co88a=! that ca ;e "!!:e= =:r"& too$ ceter po"t cotro$ are po!"t"o"& ?G@, $"ear

"terpo$at"o ?G1@, c"rc:$ar "terpo$at"o ?G, G3@, a= he$"ca$ "terpo$at"o ?G, G3@(

Progr!-"#$%&'&$(

#)*

Co+)ro,

#o&+)Too, ,$+g)*

$%)or

Too, %$+)$r

#o&+)

Fig. 9.1 (a Pa!" #$ !"e !##% &e'!er #i'!

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B-64483EN-1/03 9.5-AXIS MACHINING FUNCTION

- 1435 -

X

B

A

X

Too, %$+)$r #o&+) #)*

X

T,$ ro))&o+ )2#$ !%*&+$

Fig. 9.1 () Pa!" #$ !"e !##% &e'!er #i'!

he a coor="ate !

coor="ate !

;eca:!e the pro&ra88"& coor="ate !

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- 1432 -

E< !ett"& the re$eat para8eter, the %or>p"ece coor="ate !

pro&ra88"& coor="ate !

I# $"ear "terpo$at"o "! !pec"#"e= " th"! #:ct"o 8o=e, !pee= cotro$ "! e7erte= " !:ch a %a< that the

too$ ceter po"t 8oe! at a !pec"#"e= !pee= %"th re!pect to the %or>p"ece(

E!#,$

M%*&+$ %o+'&gr)&o+ T*$ A-&" &" )*$ ro))&o+ &" 'or %o+)ro,,&+g )*$ )oo,.

T*$ B-&" &" )*$ ro))&o+ &" 'or %o+)ro,,&+g )*$ ),$.

Progr! Cr$)$( "&+g )*$ #rogr!!&+g %oor(&+)$ "2")$!.

X

7or#&$%$ %oor(&+)$

"2")$! "$( *$+ )oo,

%$+)$r #o&+) %o+)ro, ")r)"

B

A

S#$%&'&$(

")r) #o&+)

S#$%&'&$( $+(-#o&+) $%)or r$",)&+g

*$+ ),$-'&$( %oor(&+)$ "2")$! &"

"$( " )*$ #rogr!!&+g %oor(&+)$

"2")$!

T*$ %))&+g #)* &" ")r&g*)

7or#&$%$%oor(&+)$"2")$! :I)(o$"+;) !o$$$+ &' )*$B-&" ro))$".

S#$%&'&$( $+(-#o&+) $%)or r$",)&+g *$+ or#&$%$ %oor(&+)$ "2")$! &" "$( ")*$ #rogr!!&+g %oor(&+)$ "2")$!

X

X

<

Coor(&+)$ "2")$! '&$( o+)*$ ),$

X

<

Fig. 9.1 (& Li'ear i'!er#%a!i#' wi!" a *#+i!e !,e *a&"i'e

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- 143 -

=>? T,$ ro))&o+ )2#$ !%*&+$

=3? Co!#o"&)$ )2#$ !%*&+$

=1? Too, ro))&o+ )2#$ !%*&+$

X

C

B

B

C

X

B

X

C

Fig. 9.1 ( T"ree !,e+ #$ 5-ai+ *a&"i'e

There are t%o t e= po"t, a! !ee #ro8 the coor="ate !

#"7e= o the ta;$e, "! !pec"#"e=, "!tea= o# the po!"t"o o# the rotat"o a7e!(

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- 143/ -

The CNC ca$c:$ate! a e= po"t o# the rotat"o a7e! %here the too$ %"$$ #ace the !pec"#"e= ="rect"o,

per#or8! too$ $e&th co8pe!at"o ;< the !pec"#"e= a8o:t " the too$ a7"! ="rect"o that "!

ca$c:$ate= #ro8 the po!"t"o o# the rotat"o a7e!, a= e7ert! cotro$ !o that the t"p o# the too$ 8oe!

a$o& the !pec"#"e= path(

- T##% re!ra&! a' rever /ri'g !##% &e'!er #i'! '!r#%A too$ retract a= recoer operat"o ca ;e per#or8e= =:r"& too$ ceter po"t cotro$( A retract operat"o

"! per#or8e= " the too$ a7"! ="rect"o ;< !ett"& a too$ a7"! ="rect"o retract a8o:t " para8eter No(

1121(

Th"! #:ct"o "! ea;$e= o a 8ach"e o# hea= rotat"o t !pec"#p"ece !ett"& error co8pe!at"o are ;e"& e7erc"!e=( ?Ho%eer, ;"t ?+CM@ o# para8eter No( 11 "! !et to 1 to per#or8 co8pe!at"o " the too$ ="rect"o(@

4( A oero a$:e "! !et " para8eter No( 1121(

I# the too$ retract !"&a$ T+*SC G59(B "! !et to 1 :=er the co="t"o! a;oe, a retract operat"o "!

per#or8e= " the too$ a7"! ="rect"o( ara8eter No( 1121 "! :!e= to !pec"#< a retract a8o:t( A retract

operat"o "! per#or8e= :!"& the a$:e o# para8eter No( 1121 a! a "cre8eta$ retract a8o:t(

Po"&)&o+ *$r$ )oo, r$)r%) "&)%* &" o+

@$)r%) #o"&)&o+

@$)r%) #o"&)&o+ 2 !+, o#$r)&o+

@$)r%) #)* :)oo, &" (&r$%)&o+

M+, o#$r)&o+ :r$)r%) #)*

@$%o$r #)*

@$#o"&)&o+&+g

X

Pr!$)$r No.11>61

I# the too$ retract !"&a$ T+*SC "! !et to 1 =:r"& too$ ceter po"t cotro$ %he the too$ a7"! ="rect"o

retract co="t"o! 8et"oe= a;oe are ot !at"!#"e=, a retract operat"o o# the coet"oa$ t(

G10. a%#'e G10. X2 32 42

i! 6 (RPS #$ ara*e!er N#. 7080 1 0

Para*e!er N#. 1161 0.0 0.0

Too, &" (&r$%)&o+ r$)r%)Co+$+)&o+, r$)r%)

:Pr!$)$r No. 041

@$)r%) o#$r)&o+ &" +o)

#$r'or!$(.

Co+$+)&o+, r$)r%)

- A&!/a% &/!!i'g $eera!e i+%a, /ri'g !##% &e'!er #i'! '!r#%E< :!"& ;"t 2 ?TF.@ o# para8eter No( 112, the act:a$ c:tt"& #ee=rate ="!p$a< =:r"& too$ ceter po"t

cotro$ ca ;e cha&e= a! =e!cr";e= ;e$o%(

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- 1439 -

he TF. '

The act:a$ #ee=rate at the cotro$ po"t "! ="!p$a*e "# T.G , the ="!tace to &o " the 8ach"e coor="ate !

8o=e!'

- or>p"ece !ett"& error co8pe!at"o- 3-="8e!"oa$ coor="ate !"& p$ae "=e7"& co88a=

he T.G 1'

The ="!tace to &o " the 8ach"e coor="ate !

- I'ver+e !i*e $eeI "er!e t"8e #ee= =:r"& too$ ceter po"t cotro$, "# $"ear "terpo$at"o ?G1@ "! per#or8e=, the

"er!e t"8e to ;e !pec"#"e= %"th a F co=e ?F+N@ "!'

1 Mo$!$+) "#$$( o' )*$ )oo, %$+)$r #o&+)F@N

T&!$ :!&+

Mo$!$+) (&")+%$ o' )*$ )oo, %$+)$r #o&+)

I# the too$ ceter po"t =oe! ot 8oe " re$at"o to the %or>p"ece, ;:t 8oe8et "! 8a=e a$o& therotat"o a7"!, the 8oe8et ="!tace o# the too$ ceter po"t "! the a8o:t o# trae$ a$o& the rotat"o

a7"!(

I a too$ rotat"o t

"! %or>p"ece coor="ate !

coor="ate !

ara8eter ?No(19292J5@ ' Ta;$e coor="ate !

Ta;$e rotar< a7"! ' C a7"!

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- 144 -

O

N1G9GX6(EC

NG5(1K1

N3G43(4H1

N4X1(6EC

N5C9(

Fig. 9.1 (e M#!i#' #$ !##% &e'!er #i'! '!r#% #' N05 )%#&;

F"&( 9(1 ?e@ e7p$a"! 8ot"o o# N5 ;$oc> " !a8p$e pro&ra8 O( )"ear a7e! =oLt 8oe o ta;$e

coor="ate !p"ece coor="ate !

!"&a$! "! o:tp:t a! Ta;$e 9(1 ?a@(

Ta)%e 9.1 (a Ai+ *#vi'g +ig'a%+ /ri'g !##% &e'!er #i'! '!r#% ), +e!!i'g :

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- 1441 -

S)r) #o&+) E+( #o&+)

M+, &+)$r$+)&o+

Ma'/a% a)+#%/!e #$$ (>ASM1I# a operat"o re!tart "! per#or8e= a#ter 8a:a$ "teret"o " 8a:a$ a;!o$:te o## !tate, the too$ "!

po!"t"oe= at the e= po"t to %h"ch the a8o:t o# 8a:a$ "teret"o "! a==e=, a= the a8o:t o#

8a:a$ "teret"o "! a$!o a==e= to the !:;!e:et operat"o!(

S)r) #o&+)

E+( #o&+)

M+, &+)$r$+)&o+

NOTE

I' !+, &+)$r$+)&o+ &" #$r'or!$( o+ ro))&o+ &" )*$ %$+)$r #o"&)&o+ "*&')"2 )*$ !o+) o' &+)$r$+)&o+.

- F#r a !a)%e r#!a!i#' !,e #r *#+i!e !,e *a&"i'e

Ma'/a% a)+#%/!e #' (>ASM0I# a operat"o re!tart "! per#or8e= a#ter 8a:a$ "teret"o " the 8a:a$ a;!o$:te o !tate, the too$

8oe! to the e= po"t o# the pro&ra8( ?A;!o$:te co88a= ?G9@@

X

G90 X100.0 -100.0 0 C0

X

G90 X100.0 100.0 0 C90.0

M+, &+)$r$+)&o+ ')$r

"&+g,$ ,o% ")o#

O#$r)&o+ r$")r)

Po"&)&$ (&r$%)&o+ ,o+g )*$ C-&"

T,$ %oor(&+)$

"2")$!

Ma'/a% a)+#%/!e #$$ (>ASM1I# a operat"o re!tart "! per#or8e= a#ter 8a:a$ "teret"o " the 8a:a$ a;!o$:te o## !tate, the too$8oe! " the !tate " %h"ch the a8o:t o# 8a:a$ "teret"o "! reta"e= " the ta;$e coor="ate

!

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- 144 -

X

G90 X100. -100.0 0 C0

X

G91 X0.0 >00.0 0 C90.0

O#$r)&o+ r$")r)

Po"&)&$ (&r$%)&o+ ,o+g )*$ C-&"

T,$ %oor(&+)$

"2")$!

M+, &+)$r$+)&o+ ')$r

"&+g,$ ,o% ")o#

NOTEI' !+, &+)$r$+)&o+ &" #$r'or!$( &+ + &+%r$!$+), %o!!+( :G91 ,o% )*$o#$r)&o+ &" )*$ "!$ " )*) #$r'or!$( &+ )*$ !+, "o,)$ o'' "))$.I' ABS o' #r!$)$r No. 001 &" 1 )*$ o#$r)&o+ &" )*$ "!$ " )*) o' +"o,)$ %o!!+( :G90.

A)#/! Para*e!er+(1 Ma&"i'e '$ig/ra!i#'

he para8eter! are !et, "t "! "8portat to =eter8"e the tar&et 8ach"e co#"&:rat"o #or para8eter

!ett"&( The #o$$o%"& e7p$a"! 8ach"e co#"&:rat"o(

- Ma+!er a' +%avehe there are t%o rotat"o a7e! #or cotro$$"& the or"etat"o o# a too$ or t%o rotat"o a7e! #or

cotro$$"& the or"etat"o o# a ta;$e, a t

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- 1443 -

M")$r +( ",$

B &" ",$

"$%o+( &"

&" !")$r '&r") &"

S$%o+( ro)r2 &"

F&r") ro)r2 &"

Fig. 9.1 ($ Re%a!i#'+"i+ )e!wee' *a+!er a' +%ave

- ?"e' !"e r#!a!i#' ae+ #$ !"e !a)%e # '#! i'!er+e&!*7p$a"e= ;e$o% "! a 8echa"!8 " %h"ch the ta;$e rotat"o ceter! =o ot "ter!ect(

I the 8echa"!8 !ho% " the #o$$o%"& e7a8p$e, the 8a!ter a= !$ae =o ot "ter!ect each other( ?F"&(

9(1 ?&@@

he ;oth the 8a!ter a= !$ae are at =e&ree!, a ector #ro8 the or"&" o# the 8ach"e coor="ate

!

S"8"$ar$

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- 1444 -

A &" 0

($gr$$"

B &" 0 ($gr$$"

@o)r2 ),$ #o"&)&o+

I+)$r"$%)&o+ o''"$) $%)or $)$$+ '&r") +(

"$%o+( ro)r2 $" o' ),$

X

M%*&+$

%oor(&+)$

" ")$!

M%*&+$ &+ *&%* ),$ ro)r2 $" (o +o) &+)$r"$%)

Fig. 9.1 (g Me&"a'i+* i' w"i&" !"e *a+!er a' +%ave # '#! i'!er+e&!

- ?"e' !"e $ir+! r#!a!i#' ai+ #$ !"e !##% a' !"e !##% ai+ # '#! i'!er+e&!*7p$a"e= ;e$o% "! a 8echa"!8 " %h"ch the too$ a7"! ?!p"=$e rotat"o ceter a7"!@ a= the #"r!t rotat"o

a7"! o# the too$ =o ot "ter!ect(

he ;oth the 8a!ter a= !$ae are at =e&ree!, a ector #ro8 a po"t at a ="!tace o# the too$ $e&th

co8pe!at"o a$:e p$:! the too$ ho$=er o##!et a$:e #ro8 the too$ ceter po"t a$o& the too$ a7"! to a

po"t o the #"r!t rotat"o a7"! o# the too$ "! !et a! a "ter!ect"o o##!et ector ;et%ee the too$ a7"! a=

the #"r!t rotat"o a7"! o# the too$ " para8eter!(

- ?"e' !"e r#!a!i#' ae+ #$ !"e !##% # '#! i'!er+e&!*7p$a"e= ;e$o% "! a 8echa"!8 " %h"ch the rotat"o a7e! o# the too$ =o ot "ter!ect each other(

The #"&:re !ho% ;e$o% ?F"&( 9(1 ?h@@ "! a e7a8p$e o# a 8echa"!8 " %h"ch the #"r!t a= !eco=

rotat"o a7e! o# the too$ =o ot "ter!ect(he ;oth the 8a!ter a= !$ae are at =e&ree!, a ector #ro8 a po"t o the !eco= rotat"o a7"! o# the

too$ to a po"t o the #"r!t rotat"o a7"! o# the too$ "! !et a! a "ter!ect"o o##!et ector ;et%ee the

!eco= rotat"o a7"! o# the too$ a= the #"r!t rotat"o a7"! o# the too$ " para8eter!(

The cotro$$e= po"t ca ;e !h"#te= ;< !ett"& a !h"#t ector #ro8 the po"t 8et"oe= a;oe "

para8eter!(

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- 1445 -

F&r") ro)r2 &" o' )oo,

I+)$r"$%)&o+ o''"$) $%)or $)$$+

"$%o+( +( '&r") ro)r2 $" o' )oo,

I+)$r"$%)&o+ o''"$) $%)or $)$$+

)oo, &" +( "$%o+( ro)r2 &" o'

)oo,

S$%o+( ro)r2 &" o' )oo,

Too, &"

C

B

M%*&+$ &+ *&%* )oo, ro)r2 $" (o +o) &+)$r"$%)

Fig. 9.1 (" Me&"a'i+* i' w"i&" !"e r#!a!i#' ae+ #$ !"e !##% # '#! i'!er+e&!

- T##% %e'g!" #$$+e! va%/e a' +e!!i'g i' ara*e!er N#. 19A !:8 o# the too$ $e&th o##!et a$:e ?to ;e !et o the o##!et !ett"& !cree@ a= the !ett"& " para8eter

No( 19222 ?"c$:="& the po!"t"e or e&at"e !"&@ "! a!!:8e= to ;e the ="!tace ;et%ee the too$ ceter po"t a= cotro$$e= po"t( ?The ="rect"o "! =eter8"e= ;< para8eter! No!( 1929 to No(19299(@

A! !ho% " the r"&ht !"=e o# the F"&( 9(1 ?"@, %he !ett"& the ="!tace #ro8 the too$ ceter po"t to too$

ho$=er t"p po"t a! the too$ $e&th o##!et a$:e, !et the ="!tace #ro8 the too$ ho$=er t"p po"t to the

cotro$$e= po"t " para8eter No( 19222(

A! !ho% " the $e#t !"=e o# the F"&( 9(1 ?"@, %he !ett"& the ="!tace #ro8 the too$ ceter po"t to =at:8

p$ae a! the too$ $e&th o##!et a$:e, !et the ="!tace #ro8 the =at:8 p$ae to cotro$$e= po"t "

para8eter No( 19222(

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- 1442 -

Too, %$+)$r #o&+)

Co+)ro,,$( #o&+)

Pr!$)$rNo. 19666

)! #,+$

Pr!$)$rNo. 19666

Too, *o,($r

Too, ,$+g)*o''"$) ,$

S$))&+g(&")+%$ 'ro!()! #,+$

&r$%),2"$))&+g )oo,,$+g)*

Too, ,$+g)*o''"$) ,$

Fig. 9.1 (i

*7a8p$e'

Sett"& e7a8p$e! 1 a= ;e$o% re!:$t " the !a8e operat"o'

Sett"& e7a8p$e 1'

?*7a8p$e o# !ett"&! o the r"&ht !"=e o# the F"&( 9(1 ?"@@

Too$ $e&th o##!et a$:e 1(ara8eter No( 19222 5(

Sett"& e7a8p$e '

?*7a8p$e o# !ett"&! o the $e#t !"=e o# the F"&( 9(1 ?"@@

Too$ $e&th o##!et a$:e 15(

ara8eter No( 19222 3(

CAUTIONI+ !%*&+$ *&+g ro))&+g )oo, &' )*$ &+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$)oo, &" +( )*$ )oo, ro))&o+ &" :#r!$)$r" No". 1909 )o 1914 &" +o) 0)*$ #o&+) &+(&%)$( " )*$ %o+)ro,,$( #o&+) &+ )*$ o$ '&gr$ &" +o) )*$ %o+)ro,,$(

#o&+) ) &" )*$ ")r) #o&+) o' )*$ &+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ )oo, &"+( )*$ )oo, ro))&o+ &".

(6 Ea*%e+ #$ +e!!i'g ara*e!er+There are 8a< para8eter! re$ate= to th"! #:ct"o(

There#ore, "t "! reco88e=e= that para8eter! #or a tar&et 8ach"e ;e !et ;a!e= o !o8e e7a8p$e!( Tho!e

e7a8p$e! are &"e ;e$o%(

@1 Ea*%e #$ +e!!i'g ara*e!er+ $#r a !##% r#!a!i#' !,e *a&"i'eSho% ;e$o% ?F"&( 9(1 ?@@ "! a e7a8p$e o# !ett"& para8eter! #or a too$ rotat"o t

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- 144 -

M%*&+$ %oor(&+)$ "2")$! X!-!-!

C

Too, ro))&o+ )2#$ !%*&+$

I+)$r"$%)&o+ o''"$) $%)or $)$$+ )oo, &"+( "$%o+( ro)r2 &" o' )oo,

:Pr!$)$r" No". 190919101911

Too, *o,($r o''"$) ,$:Pr!$)$r No. 19666

BI+)$r"$%)&o+ o''"$) $%)or $)$$+ "$%o+( +('&r") ro)r2 $" o' )oo,:Pr!$)$r" No". 191>19131914

!

!

X!

Fig. 9.1 (B T##% r#!a!i#' !,e *a&"i'e ea*%e

I the a;oe too$ rotat"o t M$%*+&%, +&) )2#$

19681 6:C Co+)ro,,$( &" +!$r 'or )*$ '&r") ro))&o+ &"

1968> 3: A&" (&r$%)&o+ o' )*$ '&r") ro))&o+ &"

19684 0 @o))&o+ (&r$%)&o+ o' )*$ '&r") ro))&o+ &"

19685 0.0 @o))&o+ +g,$ *$+ )*$ '&r") ro))&o+ &" &" *2#o)*$)&%, &"

19686 5:B Co+)ro,,$( &" +!$r 'or )*$ "$%o+( ro))&o+ &"

1968 >: A&" (&r$%)&o+ o' )*$ "$%o+( ro))&o+ &"

19689 0 @o))&o+ (&r$%)&o+ o' )*$ "$%o+( ro))&o+ &"

19690 0.0 @o))&o+ +g,$ *$+ )*$ "$%o+( ro))&o+ &" &" *2#o)*$)&%, &"

196960 0 T*$ '&r") ro))&o+ &" &" + or(&+r2 ro))&o+ &".

196961 0 T*$ "$%o+( ro))&o+ &" &" + or(&+r2 ro))&o+ &".

1969 3 &r$%)&o+ o' )*$ r$'$r$+%$ )oo, &"

19698 0 @$'$r$+%$ +g,$ @A

19699 0 @$'$r$+%$ +g,$ @B

1900 0 @o)r2 ),$ #o"&)&o+ :X-&"

1901 0 @o)r2 ),$ #o"&)&o+ :-&"

190> 0 @o)r2 ),$ #o"&)&o+ :-&"

1903 0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :X-&"

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- 144/ -

Para*e!er

N#.

Se!!i'g

ea*%e :e+&ri!i#'

1904 0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :-&"

1905 0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :-&"

1909 5.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ )oo, &" +( )*$ '&r") ro))&o+ &" o' )*$ )oo,:X-&"

1910 0I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ )oo, &" +( )*$ '&r") ro))&o+ &" o' )*$ )oo,

:-&"

1911 3.0I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ )oo, &" +( )*$ '&r") ro))&o+ &" o' )*$ )oo,

:-&"

191> 3.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :X-&"

1913 3.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :-&"

1914 8.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :-&"

@6 Ea*%e #$ +e!!i'g ara*e!er+ $#r a !a)%e r#!a!i#' !,e *a&"i'eSho% ;e$o% ?F"&( 9(1 ?>@@ "! a e7a8p$e o# !ett"& para8eter! #or a ta;$e rotat"o t

M%*&+$ %oor(&+)$ "2")$! X!-!-!

T,$ ro))&o+ )2#$ !%*&+$

A

C$+)$r o' '&r") ro)r2 &" o' ),$

C$+)$r o' "$%o+( ro)r2 &" o' ),$

B

I+)$r"$%)&o+ o''"$) $%)or $)$$+ '&r") +(

"$%o+( ro)r2 $" o' ),$:P@M190319041905

!

!

X!

Fig. 9.1 (; Ta)%e r#!a!i#' !,e *a&"i'e ea*%e

I the a;oe ta;$e rotat"o t@@, "# rotat"o a7e! A a= E are at =e&ree!, a!!:8ethe #o$$o%"&'

Too$ ho$=er o##!et a$:e (

+otar< ta;$e po!"t"o ?-1(,-3(,@

Iter!ect"o o##!et ector ;et%ee the #"r!t a= !eco= rotat"o a7e! o# the ta;$e ?,/(,/(@

The, the para8eter! #or the a;oe ta;$e rotat"o t.0 Too, *o,($r o''"$) ,$

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- 1449 -

Para*e!er

N#.

Se!!i'g

ea*%e :e+&ri!i#'

1966

X0.0

0.0

0.0

Co+)ro,,$(-#o&+) "*&') $%)or

19680 1> M$%*+&%, +&) )2#$

19681 4:A Co+)ro,,$( &" +!$r 'or )*$ '&r") ro))&o+ &"

1968> 1:X A&" (&r$%)&o+ o' )*$ '&r") ro))&o+ &"

19684 1 @o))&o+ (&r$%)&o+ o' )*$ '&r") ro))&o+ &"

19685 0.0 @o))&o+ +g,$ *$+ )*$ '&r") ro))&o+ &" &" *2#o)*$)&%, &"

19686 5:B Co+)ro,,$( &" +!$r 'or )*$ "$%o+( ro))&o+ &"

1968 >: A&" (&r$%)&o+ o' )*$ "$%o+( ro))&o+ &"

19689 1 @o))&o+ (&r$%)&o+ o' )*$ "$%o+( ro))&o+ &"

19690 0.0 @o))&o+ +g,$ *$+ )*$ "$%o+( ro))&o+ &" &" *2#o)*$)&%, &"

196960 0 T*$ '&r") ro))&o+ &" &" + or(&+r2 ro))&o+ &".

196961 0 T*$ "$%o+( ro))&o+ &" &" + or(&+r2 ro))&o+ &".

1969 3 &r$%)&o+ o' )*$ r$'$r$+%$ )oo, &"19698 0.0 @$'$r$+%$ +g,$ @A

19699 0.0 @$'$r$+%$ +g,$ @B

1900 -10.0 @o)r2 ),$ #o"&)&o+ :X-&"

1901 -30.0 @o)r2 ),$ #o"&)&o+ :-&"

190> 0.0 @o)r2 ),$ #o"&)&o+ :-&"

1903 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :X-&"

1904 8.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :-&"

1905 8.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :-&"


:X-&"


:-&"


:-&"


1913 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :-&"

1914 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :-&"

@

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- 145 -

Co!#o"&)$ )2#$ !%*&+$

X

I+)$r"$%)&o+ o''"$) $%)or $)$$+ )oo,&" +( )oo, ro)r2 &":Pr!$)$r" No". 190919101911

Too, *o,($r o''"$) ,$:Pr!$)$r No. 19666

@o)r2 ),$ #o"&)&o+:Pr!$)$r" No". 19001901190>

@o))&o+ %$+)$r o'ro)r2 ),$

M%*&+$ %oor(&+)$ "2")$! X!-!-!

A

B!

!

X!

Fig. 9.1 (% C#*#+i!e !,e *a&"i'e ea*%e

I the a;oe co8po!"te t.0 Too, *o,($r o''"$) ,$

1966

X0.0

0.00.0

Co+)ro,,$(-#o&+) "*&') $%)or

19680 >1 M$%*+&%, +&) )2#$

19681 5:B Co+)ro,,$( &" +!$r 'or )*$ '&r") ro))&o+ &"

1968> >: A&" (&r$%)&o+ o' )*$ '&r") ro))&o+ &"

19684 0 @o))&o+ (&r$%)&o+ o' )*$ '&r") ro))&o+ &"

19685 0.0 @o))&o+ +g,$ *$+ )*$ '&r") ro))&o+ &" &" *2#o)*$)&%, &"

19686 4:A Co+)ro,,$( &" +!$r 'or )*$ "$%o+( ro))&o+ &"

1968 1:X A&" (&r$%)&o+ o' )*$ "$%o+( ro))&o+ &"

19689 1 @o))&o+ (&r$%)&o+ o' )*$ "$%o+( ro))&o+ &"

19690 0.0 @o))&o+ +g,$ *$+ )*$ "$%o+( ro))&o+ &" &" *2#o)*$)&%, &"

196960 0 T*$ '&r") ro))&o+ &" &" + or(&+r2 ro))&o+ &".

196961 0 T*$ "$%o+( ro))&o+ &" &" + or(&+r2 ro))&o+ &".1969 3 &r$%)&o+ o' )*$ r$'$r$+%$ )oo, &"

19698 0.0 @$'$r$+%$ +g,$ @A

19699 0.0 @$'$r$+%$ +g,$ @B

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- 1451 -

Para*e!er

N#.

Se!!i'g

ea*%e :e+&ri!i#'

1900 5.0 @o)r2 ),$ #o"&)&o+ :X-&"

1901 >.0 @o)r2 ),$ #o"&)&o+ :-&"

190> -15.0 @o)r2 ),$ #o"&)&o+ :-&"1903 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :X-&"

1904 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :-&"

1905 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ '&r") +( "$%o+( ro))&o+ $" o' )*$ ),$ :-&"


:X-&"


:-&"

1911 >.0I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ )oo, &" +( )*$ '&r") ro))&o+ &" o' )*$ )oo,

:-&"


1913 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :-&"

1914 0.0 I+)$r"$%)&o+ o''"$) $%)or $)$$+ )*$ "$%o+( +( '&r") ro))&o+ $" o' )*$ )oo, :-&"

( ahea= "terpo$at"o

to ;e a:to8at"ca$$< ea;$e=(

Ee !:re to !et the para8eter! ;e$o%(

?1@ E"t 1 ?)+@ o# para8eter No( 141 1' )"ear rap"= traer!e

?@ E"t 5 ?F+@ o# para8eter No( 1951 1' Acce$erat"o=ece$erat"o ;e#ore "terpo$at"o "! :!e= #or

rap"= traer!e(

?3@ ara8eter No( 121' Acce$erat"o o# the acce$erat"o=ece$erat"o ;e#ore "terpo$at"o #or rap"=

traer!e

?4@ ara8eter No( 12' Acce$erat"o cha&e t"8e o# ;e$$-!hape= acce$erat"o=ece$erat"o ;e#ore"terpo$at"o #or rap"= traer!e

?5@ ara8eter No( 122' Ma7"8:8 per8"!!";$e acce$erat"o #or acce$erat"o=ece$erat"o ;e#ore

"terpo$at"o

?2@ ara8eter No( 143' Ma7"8:8 c:tt"& #ee=rate " the 8o=e o# acce$erat"o=ece$erat"o ;e#ore

"terpo$at"o

I# a< o# the a;oe para8eter! "! ot !et, a$ar8 S54, “I))*GA) A+AM*T*+ IN G43(4G43(5” or

S511, “A+AM*T*+ *+O ?CUT MAX@” "! "!!:e=(

- F/'&!i#' $#r %a&i'g ri#ri!, #' !"e a!" ra!"er !"a' #' +eeI#, " a ;$oc> !pec"# "! $o%ere=(

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- 145 -

A! a re!:$t o# !pee= re=:ct"o, the path error 8a< ;e !8a$$er tha a para8eter-!et a$:e =:e to a

ca$c:$at"o error(

- F/'&!i#'+ !"a! a/!#*a!i&a%%, e'a)%e AI '!#/r '!r#%

I# too$ ceter po"t cotro$ "! :!e=, "t "! reco88e=e= to :!e AI coto:r cotro$(E< !ett"& ;"t ?AAI@ o# para8eter No( 112 to 1, AI coto:r cotro$ ca ;e a:to8at"ca$$< ea;$e=

%he too$ ceter po"t cotro$ "! !pec"#"e=(

I# AI coto:r cotro$ "! ea;$e= %"th th"! #:ct"o, AI coto:r cotro$ "! a$!o cace$e= %"th the too$ ceter

po"t cotro$ cace$ co88a= ?G49@(

I# AI coto:r cotro$ ha! ;ee ea;$e= " a=ace, AI coto:r cotro$ "! ot cace$e= %"th the too$ ceter

po"t cotro$ cace$ co88a= ?G49@(

Th"! #:ct"o "! a$!o e##ect"e to too$ po!t:re cotro$ a= the c:tt"& po"t co88a=(

I# ;"t ?AAI@ o# para8eter No( 112 "! !et to 1 a$tho:&h the AI coto:r cotro$ opt"o "! a;!et, a$ar8

S54, “I))*GA) A+AM*T*+ IN G43(4G43(5” "! "!!:e= "# too$ ceter po"t cotro$ "! !pec"#"e=(

- A&&e%era!i#'e&e%era!i#' a$!er i'!er#%a!i#' $#r rai !raver+e

I too$ ceter po"t cotro$ 8o=e, acce$erat"o=ece$erat"o ;e#ore $oo> ahea= "terpo$at"o "!a:to8at"ca$$< ea;$e=( To ea;$e acce$erat"o=ece$erat"o a#ter "terpo$at"o to acce$erat"o=ece$erat"o

;e#ore "terpretat"o #or rap"= traer!e, !et the t"8e co!tat #or acce$erat"o=ece$erat"o a#ter

"terpo$at"o " para8eter No( 114, " the !a8e %a< a! %"th or8a$ acce$erat"o=ece$erat"o ;e#ore

rap"= traer!e "terpo$at"o(

I# %"!h"& to :!e the t"8e co!tat #or acce$erat"o=ece$erat"o a#ter "terpo$at"o " too$ ceter po"t

cotro$ or %or>p"ece !ett"& error co8pe!at"o 8o=e o$! "! $"ear, a= a

=ece$erat"o !top "! a$%a o"t a=, there#ore, the =ece$erat"o #:ct"o %"thacce$erat"o a= !pee= =eter8"at"o %"th corer !pee= ="##erece are ot re:"re= a= =o ot

#:ct"o(

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- 1453 -

.:r"& too$ ceter po"t cotro$, ho%eer, "# there "! 8oe8et a$o& the rotat"o a7"!, the path ;et%ee

;$oc>! "! c:re= ee =:r"& rap"= traer!e a=, there#ore, the a;oe !pee= cotro$ #:ct"o!(

I# ;"t 3 ?TA+@ o# para8eter No( 1954 a= ;"t 4 ?TC+@ o# para8eter No( 1954 are , the !pee= cotro$

para8eter! that ;eco8e e##ect"e " rap"= traer!e =:r"& too$ ceter po"t cotro$ are the !a8e a! tho!e

that ;eco8e e##ect"e =:r"& $"ear "terpo$at"o(

E< !ett"& ;"t 3 ?TA+@ o# para8eter No( 1954 a= ;"t 4 ?TC+@ o# para8eter No( 1954 to 1, "t "!

po!!";$e to 8a>e !eparate !ett"&! #or rap"= traer!e =:r"& too$ ceter po"t cotro$, a! &"e " the ta;$e

;e$o%(

Per*i++i)%e a&&e%era!i#' L#wer %i*i! +ee

@#&( )r$r"$ (r&+g o)*$r )*+ )oo, %$+)$r #o&+) %o+)ro, I+,&( I+,&(

@#&( )r$r"$ (r&+g )oo, %$+)$r #o&+) %o+)ro, No.196> No.1960

&+$r &+)$r#o,)&o+ No.13 No.138

C&r%,r &+)$r#o,)&o+ No.135 No.13>

ara8eter! #or the =ece$erat"o #:ct"o %"th acce$erat"o that ;eco8e e##ect"e "# ;"t 3 ?TA+@ o#

para8eter No( 1954 "! !et to 1

Per*i++i)%e +ee i$$ere'&e

@#&( )r$r"$ (r&+g o)*$r )*+ )oo, %$+)$r #o&+) %o+)ro, I+,&(

@#&( )r$r"$ (r&+g )oo, %$+)$r #o&+) %o+)ro, No.1961

&+$r &+)$r#o,)&o+

C&r%,r &+)$r#o,)&o+No.183

ara8eter! #or !pee= =eter8"at"o %"th corer !pee= ="##erece "# ;"t 4 ?TC+@ o# para8eter No( 1954 "!

!et to 1

Eeca:!e h"&h 8ach""& prec"!"o "! ot re:e!te= " rap"= traer!e, "t "! po!!";$e to "crea!e the

po!"t"o"& !pee= ;< !ett"& the per8"!!";$e acce$erat"o a= the per8"!!";$e !pee= ="##erece to a$:e!

$ar&er tha tho!e =:r"& c:tt"&(

- ?"e' a #ri'a!e +,+!e* $ie #' !"e !a)%e i+ /+e a+ !"e r#gra**i'g#ri'a!e +,+!e*

The pro&ra88"& coor="ate !

ceter po"t cotro$(

I# ;"t 5 ?@ o# para8eter No( 19292 "! !et to LL, the %or>p"ece coor="ate !

the pro&ra88"& coor="ate !

Eeca:!e "t "! #"7e= o the ta;$e, the coor="ate !

It =oe! ot rotate %"th the rotat"o o# the too$ hea=(

The X, 6, a= co88a=! are a!!:8e= to ;e !pec"#"e= " the ta;$e coor="ate !

a= (

he the X, 6, or co88a= "! e7ec:te=, the too$ ceter per#or8! $"ear 8oe8et ?" G1 or G

8o=e@ or c"rc:$ar 8oe8et ?" G or G3 8o=e@ " re$at"o to the ta;$e ?o;ect to ;e 8ach"e=@(

A! #or #ee=rate, #ee=rate cotro$ "! per#or8e= !o that the #ee=rate o# the too$ ceter " re$at"o to the ta;$e

?o;ect to ;e 8ach"e=@ ;eco8e! the !pec"#"e= #ee=rate(

The t"8e at %h"ch the %or>p"ece coor="ate !

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- 1454 -

I# ;"t 5 ?IN@ o# para8eter No( 1954 "! , the %or>p"ece coor="ate !

ta;$e coor="ate !

a7"! " the ;$oc> " %h"ch too$ ceter po"t cotro$ "! !tarte=, the %or>p"ece coor="ate !

the ta;$e a#ter the e= o# ta;$e 8oe8et(

*7a8p$e o# operat"o per#or8e= "# ;"t 5 ?IN@ o# para8eter No( 1954 "! '

A!!:8e that the ta;$e rotat"o a7"! rotat"& a;o:t the -a7"! "! the C-a7"!(

I# ;"t 5 ?IN@ o# para8eter No( 1954 "! , a= the pro&ra8 ha! ;ee create= ;< a!!:8"& that the

%or>p"ece coor="ate !

8:!t ;e 8oe= to each t"8e "t "! t:re= o(

I# ;"t 5 ?IN@ o# para8eter No( 1954 "! 1, the %or>p"ece coor="ate !

X

C

C 45

T,$ %oor(&+)$

"2")$!

7or#&$%$

X

T,$ %oor(&+)$ "2")$!

7or#&$%$ %oor(&+)$

"2")$!

S)r) )oo, %$+)$r #o&+) %o+)ro, &)* C

$&+g "$) )o -90

X

C

C 45

T,$ %oor(&+)$

"2")$!

7or#&$%$

8/19/2019 TCP Fanuc

22/51


- 1455 -

*7a8p$e o# operat"o per#or8e= "# ;"t 5 ?IN@ o# para8eter No( 1954 "! 1'

A!!:8e that the ta;$e rotat"o a7"! rotat"& a;o:t the -a7"! "! the C-a7"!(

I# ;"t 5 ?IN@ o# para8eter No( 1954 "! 1, a= too$ ceter po"t cotro$ "! !tarte= " the !tate " %h"ch the

po!"t"o o# the ta;$e rotat"o a7"! "! ot , the ta;$e coor="ate !p"ece

coor="ate ! " %h"ch "t "! !tarte=, the 8oe8et "! per#or8e= o

the %or>p"ece coor="ate !

The 8oe8et! " the !:;!e:et ;$oc>! %"$$ ;e 8oe8et! " the ta;$e coor="ate !

- ?"e' !"e w#r;ie&e #ri'a!e +,+!e* i+ /+e a+ !"e r#gra**i'g

#ri'a!e +,+!e*I# ;"t 5 ?@ o# para8eter No( 19292 "! 1, the %or>p"ece coor="ate !

coor="ate !

I th"! ca!e, the pro&ra88"& coor="ate !p"ece coor="ate !

For X, 6, a= , the e= po"t po!"t"o a! !ee #ro8 the %or>p"ece coor="ate !

T

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23/51


- 1452 -

A! %"th the ca!e " %h"ch ;"t 5 ?@ o# para8eter No( 19292 "! , %he the X, 6, or co88a= "!

e7ec:te=, the too$ ceter per#or8! $"ear 8oe8et ?" G1 or G 8o=e@ or c"rc:$ar 8oe8et ?" G

or G3 8o=e@ " re$at"o to the ta;$e ?o;ect to ;e 8ach"e=@(

S"8"$ar$

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- 145 -

I the !tart ;$oc> o# too$ ceter po"t cotro$ =:r"& t"$te= %or>"& p$ae "=e7"&, or " the !tart ;$oc> o#

t"$te= %or>"& p$ae "=e7"& =:r"& too$ ceter po"t cotro$, the rotar< a7"! =oe! ot 8oe 8echa"ca$$<

a= the a;!o$:te coor="ate! are cha&e= ;< the a8o:t corre!po="& to the coer!"o( The a7"!

8oe! to the !pec"#"e= po!"t"o " the pro&ra8 coor="ate !"& p$ae "=e7"&(

.epe="& o the 8ach"e co#"&:rat"o, "t "! ph

I the !tart ;$oc> o# too$ ceter po"t cotro$ =:r"& t"$te= %or>"& p$ae "=e7"&, or " the !tart ;$oc> o#

t"$te= %or>"& p$ae "=e7"& =:r"& too$ ceter po"t cotro$, the a;!o$:te coor="ate a$:e! o# the rotar<

a7e! cha&e co!"=er"& coor="ate !

=epe="& o the 8ach"e co#"&:rat"o( I th"! ca!e, a$ar8 S439 ?I))*GA) COMMAN. IN

TOO) .I+C CM@ occ:r!(

Moe8et o# !tart-:p a= cace$ o# Too$ $e&th o##!et

I ca!e that t"$te= %or>"& p$ae "=e7"& a= too$ ceter po"t cotro$ are :!e= at the !a8e t"8e, !et ;"t 2

?TOS@ o# para8eter No( 52 to 1 ?per#or8 too$ $e&th co8pe!at"o ;< !h"#t"& a coor="ate !

para8eter TOS , a$ar8 S43/?I))*GA) A+AM*T*+ IN TOO) .I+C CM@ "! "!!:e=(

I ca!e that Too$ po!t:re cotro$ "! :!e= %"th T "! cha&e= !o that the too$ po!t:re ca pa!! the !"&:$ar po!t:re(

E:t th"! #:ct"o "! ="!a;$e= %he t"$te= %or>"& p$ae "=e7"& "! :!e= to&ether(

+a&e o# rotar< a7e! 8oe8et!I ca!e that te $"8"t chec> to

preet a 8oe8et oer the ra&e(

F:ct"o! %"th %h"ch %or>"& p$ae "=e7"& ca ot ;e :!e=

T"$te= %or>"& p$ae "=e7"& ca ot ;e :!e= to&ether %"th the #o$$o%"& #:ct"o!

- H"&h-!pee= !8ooth TC ?G43(4 )1 G43(4 3 G43(5 )1 G43(5 3@

- C:tt"& po"t co88a= ?G43(/ G43(9@

The or=er o# co88a=! o# t"$te= %or>"& p$ae "=e7"& a= too$ ceter po"t cotro$

There "! o re!tr"ct"o a;o:t the or=er o# co88a=! o# t"$te= %or>"& p$ae "=e7"& a= too$ ceter po"t

cotro$(

E:t the oe co88a=e= $ater 8:!t ;e cace$e= ear$"er( I# the oe co88a=e= ear$"er "! cace$e= ear$"er,

a$ar8 S541 ?I))*GA) COMMAN. IN G43(4G43(5@ occ:r!(

Ma:a$ "teret"o a= ha=$e "terr:pt"o

.:r"& :!"& too$ ceter po"t cotro$ to&ether %"th t"$te= %or>"& p$ae "=e7"&, =o ot per#or8 8a:a$

"teret"o a= ha=$e "terr:pt"o(

ro&ra8 re!tart

.o ot per#or8 a pro&ra8 re!tart to the pro&ra8 " %h"ch too$ ceter po"t cotro$ "! :!e= to&ether %"th

t"$te= %or>"& p$ae "=e7"&(

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- 145/ -

+e!et

I ca!e that t"$te= %or>"& p$ae "=e7"& a= too$ ceter po"t cotro$ are :!e= at the !a8e t"8e, the too$

ceter po"t cotro$ 8o=e, the too$ $e&th co8pe!at"o ector, a= the t"$te= %or>"& p$ae "=e7"& are

cace$e= ;< a re!et o 8atter %hat the !ett"& o# the #o$$o%"& para8eter!'

- E"t 2 ?C)+@ o# para8eter No(34

- E"t ?C/@ o# para8eter No(34

- E"t 2 ?)0@ o# para8eter No(53

- E"t ?.3+@ o# para8eter No( 54(

or>p"ece coor="ate !"& p$ae "=e7"& a= too$ ceter po"t cotro$ at the !a8e t"8e %"th G5 ?$oca$

coor="ate !p"ece coor="ate !

coor="ate !

p$ae "=e7"&(

ara8eter IN

Geera$$

#"7e= o the ta;$e " the !tate " %h"ch too$ ceter po"t cotro$ "! !tarte=, a= !:;!e:et$

E:t =:r"& :!"& too$ ceter po"t cotro$ to&ether %"th t"$te= %or>"& p$ae "=e7"&, the para8eter IN

"! re&ar=e= a! 1 ?That "!, the %or>p"ece coor="ate !

A= " ca!e that the para8eter IN "! a= t"$te= %or>"& p$ae "=e7"& "! per#or8e= =:r"& too$

ceter po"t cotro$, %he t"$te= %or>"& p$ae "=e7"& "! cace$e=, the %or>p"ece coor="ate ! to ta>e p$ace

F' Co88a=e= #ee=rate

=X, =6, = ' Mot"o ="!tace o# the too$ ceter po"t ?X, 6 a= -a7"!@

I th"! ca!e, the #ee=rate o# rotar< a7e! "! =eter8"e= a! the a7e! 8ot"o! o# a ;$oc> e=! at the t"8e

ca$c:$ate= ;< *K1 a;oe(

I# rotar< a7"! !ho:$= ;e "c$:=e= " co88a=e= #ee=rate, !et para8eter A.X7?No(112/J@ #or the

rotar< a7"! to 1(

I# para8eter A.X7?No(112/J@ "! !et to 1, co88a=e= #ee=rate "! re&ar=e= a! #o$$o%!(

F

dAdZ dY dX dt

((((

?*K @

=A, (((( ' Mot"o ="!tace o# the rotar< a7"! #or %h"ch the para8eter A.X7 "! !et to 1

U!"& th"! =t, the #ee=rate o# too$ ceter po"t ;eco8e!dt

dZ dY dX

(

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- 1459 -

Sig'a%

Ma'/a% a)+#%/!er +ig'a% >ASM@G'00.6PC$a!!"#"cat"oQ Ip:t !"&a$

PF:ct"oQ Th"! !"&a$ !e$ect! ;et%ee the 8a:a$ a;!o$:te o or o## !tate!(POperat"oQ I# , th"! !"&a$ !e$ect! the 8a:a$ a;!o$:te o !tate(

I# 1, th"! !"&a$ !e$ect! the 8a:a$ a;!o$:te o## !tate(

Ma'/a% a)+#%/!e &"e&; +ig'a% MASM@F'008.6PC$a!!"#"cat"oQ O:tp:t !"&a$

PF:ct"oQ Not"#"e! the !tate o# the 8a:a$ a;!o$:te !"&a$(

PO:tp:t co=(Q Th"! !"&a$ "! !et to 1 " the #o$$o%"& ca!e'

he the 8a:a$ a;!o$:te !"&a$ RAESM "! !et to (

Th"! !"&a$ "! !et to " the #o$$o%"& ca!e'

he the 8a:a$ a;!o$:te !"&a$ RAESM "! !et to 1(

Sig'a% are++D7 D D5 D8 D< D6 D1 D0

G'00 >ASM

D7 D D5 D8 D< D6 D1 D0

F'008 MASM

Para*e!er+D7 D D5 D8 D< D6 D1 D0

180< HTG

PIp:t tp"ece coor="ate !

D7 D D5 D8 D< D6 D1 D0

7001 AS

PIp:t t

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- 142 -

#1 ABS For the 8oe co88a= a#ter 8a:a$ "teret"o " the 8a:a$ a;!o$:te o !tate'

' ."##eret path! are :!e= " the a;!o$:te ?G9@ a= "cre8eta$ ?G91@ 8o=e!(

1' The !a8e path ?path " the a;!o$:te 8o=e@ "! :!e= " the a;!o$:te ?G9@ a=

"cre8eta$ ?G91@ 8o=e!(

D7 D D5 D8 D< D6 D1 D0

7080 RPS

PIp:t tP0a$"= =ata ra&eQ 9 ="&"t o# 8""8:8 :"t o# =ata ?re#er to !ta=ar= para8eter !ett"& ta;$e ?A@@

?he the "cre8et !

#0 RCM he %or>p"ece !ett"& error co8pe!at"o "! per#or8e= %"th a 5-a7"! 8ach"e, too$

="rect"o co8pe!at"o ?co8pe!at"o #or a rotat"o a7"!@ "!'

' Not per#or8e=(

1' er#or8e=(

NOTEI+ %"$ )*) )&,)$( or&+g #,+$ &+($&+g +( )oo, %$+)$r #o&+)%o+)ro, r$ "$( )og$)*$r "$) )*&" #r!$)$r )o

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- 1421 -

Th"! para8eter "! :!e= #or the t"8e co!tat o# acce$erat"o=ece$erat"o ;e#ore rap"=

traer!e "terpo$at"o(

Ee !:re to !pec"#< the !a8e t"8e co!tat a$:e #or a$$ a7e! e7cept #or a !pec"a$

app$"cat"o( I# ="##eret t"8e co!tat! are !et, a correct $"ear $"e caot ;e o;ta"e=(

D7 D D5 D8 D< D6 D1 D0

1160 TRC TF: T:G AAI TCS

PIp:t t

Coor(&+)$ "2")$! "*&')

)2#$

TOS 1 or TOP 1

TCS 0

TOS 1 or TOP 1

TCS 1

Coor(&+)$ "2")$!

"*&') )2#$

Coor(&+)$ "2")$! "*&')

)2#$

#2 AAI he too$ ceter po"t cotro$?G43(4G43(5@, or c:tt"& po"t co88a= ?G43(/G43(9@

"! co88a=e=, AI coto:r cotro$'

' =oe! ot ;eco8e act"e a:to8at"ca$$

NOTE

E$+ &' TG 0 )*$ (&")+%$ )o go &+ )*$ !%*&+$ %oor(&+)$"2")$! &" (&"#,2$( &+ )*$ 'o,,o&+g !o($"- 3-(&!$+"&o+, %oor(&+)$ "2")$! %o+$r"&o+- T&,)$( or&+g #,+$ &+($&+g- 7or#&$%$ "$))&+g $rror %o!#$+")&o+

#6 TFD The act:a$ c:tt"& #ee=rate ="!p$a

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- 142 -

NOTET*&" #r!$)$r &" r$gr($( " $&+g "$) )o 0 &+ )*$ 'o,,o&+g!o($"1 3-(&!$+"&o+, %oor(&+)$ "2")$! %o+$r"&o+

> T&,)$( or&+g #,+$ &+($&+g3 7or#&$%$ "$))&+g $rror %o!#$+")&o+4 C))&+g #o&+) %o!!+(I' 1 &" "$) &+ )*&" #r!$)$r !+, &+)$r$+)&o+ %++o) $#$r'or!$( &+ r#&( )r$r"$ (r&+g )oo, %$+)$r #o&+) %o+)ro,. I'!+, &+)$r$+)&o+ &" #$r'or!$( ,r! PS54>1< IEGACOMMAN IN G43.4/G43.5< &" &""$( ) )*$ %2%,$ ")r) ')$r!+, &+)$r$+)&o+.

1161 T"e a*#/'! #$ a re!ra&! #era!i#' i' !"e !##% ai+ ire&!i#' /ri'g !##% re!ra&! a' re!/r'

PIp:t t

?he the "cre8et !

a= %or>p"ece !ett"& error co8pe!at"o@( The retract operat"o "! per#or8e= ;< :!"&

the a$:e !et " th"! para8eter " a "cre8eta$ 8aer( Th"! =ata "! a$"= o$< %he ;"t

?+S@ o# para8eter No( 4 "! !et to 1( I# "! !et " th"! para8eter, a retract operat"o

" the too$ a7"! ="rect"o "! ot per#or8e=, ;:t a retract operat"o "! per#or8e= accor="&

to the !ett"& o# para8eter No( 41(

116<Ti*e '+!a'! #$ a&&e%era!i#'e&e%era!i#' a$!er rai !raver+e i'!er#%a!i#' i' !##% &e'!er #i'! '!r#%

*#e a' i' w#r;ie&e +e!!i'g err#r *e'+a!i#' *#e

PIp:t t

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- 1423 -

NOTE- I) &" +o) +$%$""r2 )o "$) )*&" #r!$)$r 'or )*$ "&% )*r$$ $".

E$+ &' )*&" #r!$)$r 'or )*$ "&% )*r$$ $" &" "$) &) !$" +o$''$%).

- I+ %"$ )*) $#+"&o+ o' &" !o$ %o!!+( &+ )oo, %$+)$r #o&+)%o+)ro, &" "$( +( #r!$)$r AF:No.11>69>1 ,, )*$ +o+5-&" !%*&+&+g %o+)ro, $" r$ &+%,($( &+ %o!!+($( '$$(r)$r$gr(,$"" o' )*$ "$))&+g o' #r!$)$r AX.

D7 D D5 D8 D< D6 D1 D0

1169 A:F

PIp:t t

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- 1424 -

#2 DET he the pro&ra88"& coor="ate !e! a !8a$$er a&:$ar

8oe8et "! !e$ecte= #or a 8ach"e o# too$ rotat"o t'

' T"$t! the too$ " the ="rect"o o# the ta&et to the arc ?at the ;$oc> e= po"t@(

1' T"$t! the too$ to%ar= the #or%ar= 8oe ="rect"o "o$"& the he$"ca$ a7"! ?at the

;$oc> e= po"t@(

D7 D D5 D8 D< D6 D1 D0

195 S=C SPR

PIp:t t

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- 1425 -

S*&') o' %o+)ro,,$( #o&+)

Too, ,$+g)* o''"$)

Too, *o,($r o''"$)

Co+)ro,,$(-#o&+) "*&') $%)or

E

Too, %$+)$r #o&+)

Co+)ro,,$( #o&+)

S$%o+( ro)r2 &"o' )oo,

F

F&r") ro)r2 &" o' )oo,

Fig. 9.1 (* C#'!r#%%e-#i'! +"i$! ve&!#r w"e' a/!#*a!i&a%%, &a%&/%a!e

#5 SVC The cotro$$e= po"t "!'

' Not !h"#te=(

1' Sh"#te=(

The 8etho= o# !h"#t"& "! !pec"#"e= ;< ;"t 4 ?S+@ o# para8eter No( 19225(

NOTE7*$+ )*$ !%*&+$ *" +o ro))&o+ &" 'or ro))&+g )*$ )oo, :*$+#r!$)$r No. 19680 &" "$) )o 1> )o "#$%&'2 )*$ ),$ ro))&o+ )2#$)*$ %o+)ro,,$( #o&+) &" +o) "*&')$( r$gr(,$"" o' )*$ "$))&+g o' )*&"#r!$)$r.

19 T##% "#%er #$$+e! va%/e

PIp:t t

P0a$"= =ata ra&eQ 9 ="&"t o# 8""8:8 :"t o# =ata ?re#er to !ta=ar= para8eter !ett"& ta;$e ?A@@

?he the "cre8et !

po"t to the too$ attach8et po!"t"o " too$ $e&th co8pe!at"o ?a#ter !pec"#"cat"o o#

G53(1 " the t"$te= %or>"& p$ae "=e7"& 8o=e@, too$ $e&th co8pe!at"o " too$ a7"!

="rect"o, 3-="8e!"oa$ 8a:a$ #ee=, or too$ ceter po"t cotro$( I too$ $e&thco8pe!at"o ?ot " the t"$te= %or>"& p$ae "=e7"& 8o=e@, ho%eer, too$ ho$=er

o##!et ca ;e ea;$e= or ="!a;$e= %"th ;"t ?*TH@ o# para8eter No( 19225(

NOTES$) r(&" ,$.

197 C#'!r#%%e-#i'! +"i$! ve&!#r

PIp:t t

?he the "cre8et !

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- 1422 -

Set the !h"#t ector #or the cotro$$e= po"t( Th"! a$:e ;eco8e! a$"= %he ;"t 5 ?S0C@

o# para8eter No( 19225 "! !et to 1, a= ;"t 4 ?S+@ o# para8eter No( 19225 "! !et to 1(

NOTE

S$) r(&" ,$.

190 Me&"a'i&a% /'i! !,e

PIp:t t

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- 142 -

Set the cotro$$e=-a7"! :8;er #or the #"r!t rotat"o a7"!(

For a h

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- 142/ -

Pr!$)$r No.1968>

3

4

X

5

8

Pr!$)$r No.19683

198 R#!a!i#' ire&!i#' #$ !"e $ir+! r#!a!i#' ai+

PIp:t t

?he the "cre8et !

19 C#'!r#%%e-ai+ '/*)er $#r !"e +e' r#!a!i#' ai+

PIp:t t

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- 1429 -

197 Ai+ ire&!i#' #$ !"e +e' r#!a!i#' ai+

PIp:t t

?he the "cre8et !

I# para8eter No( 192/ "! !et to a a$:e 4 to 2, !et the "c$"at"o a&$e(

199 R#!a!i#' ire&!i#' #$ !"e +e' r#!a!i#' ai+

PIp:t t%"!e ="rect"o a! "e%e= #ro8 the e&at"e to po!"t"e ="rect"o o# thea7"! !pec"#"e= " para8eter No( 192/ ?$e#t-ha= threa= rotat"o@

Nor8a$$

P0a$"= =ata ra&eQ 9 ="&"t o# 8""8:8 :"t o# =ata ?re#er to !ta=ar= para8eter !ett"& ta;$e ?A@@

?he the "cre8et !

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- 14 -

D7 D D5 D8 D< D6 D1 D0

199 RFC ?P IA6 IA1

PIp:t t

NOTEFor 3-(&!$+"&o+, )oo, %o!#$+")&o+ !%*&+&+g )*$ "$))&+g o' )*&"#r!$)$r &" "$( o+,2 *$+ &) 4 :TBP o' #r!$)$r No. 1946 &""$) )o 1.

#6 RFC I too$ ceter po"t cotro$, %he a co88a= that =oe! ot 8oe the too$ ceter po"t

%"th re!pect to the %or>p"ece "! "!!:e=, the #ee=rate o# the rotat"o a7"! "!'

' The 8a7"8:8 c:tt"& #ee=rate ?para8eter No( 143@(

1' A !pec"#"e= #ee=rate(

1997 Re$ere'&e !##% ai+ ire&!i#'

PIp:t t

ta;$e are pre!et ?there "! o rotat"o a7"! #or cotro$$"& the too$@(

1' o!"t"e X-a7"! ="rect"o

' o!"t"e 6-a7"! ="rect"o

3' o!"t"e -a7"! ="rect"o

he the re#erece too$ a7"! ="rect"o "! e"ther the X-, 6-, or -a7"! ="rect"o, !et the

re#erece ="rect"o " th"! para8eter, the !et appropr"ate a&$e! a! the re#erece a&$e

+A a= re#erece a&$e +E ?para8eter! No!( 1929/ a= 19299@(

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- 141 -

@$'$r$+%$ )oo, &" (&r$%)&o+

X

Too, &" (&r$%)&o+ &" #o"&)&$ X-&" (&r$%)&o+.

Too, &" (&r$%)&o+ &" #o"&)&$ -&" (&r$%)&o+.

Too, &" (&r$%)&o+ &" #o"&)&$ -&" (&r$%)&o+.

199 A'g%e w"e' !"e re$ere'&e !##% ai+ ire&!i#' i+ !i%!e (re$ere'&e a'g%e RA

1999 A'g%e w"e' !"e re$ere'&e !##% ai+ ire&!i#' i+ !i%!e (re$ere'&e a'g%e R

PIp:t t

P0a$"= =ata ra&eQ 9 ="&"t o# 8""8:8 :"t o# =ata ?re#er to !ta=ar= para8eter !ett"&

?he the "cre8et !

="rect"o to po!"t"e X-a7"! ="rect"o(he the re#erece too$ a7"! ="rect"o ?para8eter No( 1929@ "! !et to 3, the too$ a7"! "!

t"$te= the +A =e&ree! o the 6-a7"! #ro8 the po!"t"e -a7"! ="rect"o to po!"t"e X-a7"!

="rect"o, the the too$ a7"! "! t"$te= the +E =e&ree! o the -a7"! #ro8 the po!"t"e X-a7"!

="rect"o to po!"t"e 6-a7"! ="rect"o(

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- 14 -

Too, &" (&r$%)&o+ *$+ )*$ r$'$r$+%$ )oo, &" (&r$%)&o+ &" -&"

@A

X

X

@B

X

Too, *o,($r o''"$)

Too, ,$+g)* o''"$)

19700 R#!ar, !a)%e #+i!i#' (X-ai+ #$ !"e )a+i& !"ree ae+

19701 R#!ar, !a)%e #+i!i#' (3-ai+ #$ !"e )a+i& !"ree ae+

19706 R#!ar, !a)%e #+i!i#' (4-ai+ #$ !"e )a+i& !"ree ae+


?he the "cre8et !

@o)r2 ),$ #o"&)&o+

!

!

X!

F&r") ro)r2 &" o'),$

@o)r2 ),$ #o"&)&o+

A

NOTE A" #o&+) A "$) #o"&)&o+ )*) &" $"2 )o !$"r$ o+ )*$ '&r") ro)r2&" o' )*$ ),$.S$) r(&" ,$.I' )*$ ro)r2 ),$ &" !o$( ,o+g )*$ X- - or -&" or ,, o' )*$"$$" "$) )*$ #o"&)&o+ o' )*$ ro)r2 ),$ *$+ )*$ !%*&+$%oor(&+)$" o' )*$ X- - +( -$" r$ ,, "$) )o 0.

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- 143 -

1970<I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e $ir+! a' +e' r#!a!i#' ae+ #$ !"e !a)%e (X-ai+ #$ !"e )a+i&

!"ree ae+

19708I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e $ir+! a' +e' r#!a!i#' ae+ #$ !"e !a)%e (3-ai+ #$ !"e )a+i&

!"ree ae+

19705I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e $ir+! a' +e' r#!a!i#' ae+ #$ !"e !a)%e (4-ai+ #$ !"e )a+i&

!"ree ae+


?he the "cre8et !

ot "ter!ect( The!e para8eter! are a$"= %he para8eter No( 192/ "! !et to 1( he

the rotat"o a7e! #or cotro$$"& the ta;$e are a$$ at =e&ree!, the ector #ro8 po"t A to

po"t E o the !eco= rotat"o a7"! o# the ta;$e "! !et a! the "ter!ect"o o##!et ector "

the 8ach"e coor="ate !

7*$+ ),$ ro)r2 $" (o +o) &+)$r"$%)

!

!

X!

S$%o+( ro)r2 &" o' ),$

F&r") ro)r2 &" o'),$

@o)r2 ),$ #o"&)&o+

I+)$r"$%)&o+ o''"$) $%)or $)$$+ '&r") +( "$%o+(ro)r2 $" o' ),$

B

A

NOTE A" #o&+) B "$) #o"&)&o+ )*) &" $"2 )o !$"r$ o+ )*$ "$%o+(ro)r2 &" o' )*$ ),$.

S$) r(&" ,$.

19709 I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e !##% ai+ a' !##% r#!a!i#' ai+ (X-ai+ #$ !"e )a+i& !"ree ae+

19710 I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e !##% ai+ a' !##% r#!a!i#' ai+ (3-ai+ #$ !"e )a+i& !"ree ae+

19711 I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e !##% ai+ a' !##% r#!a!i#' ai+ (4-ai+ #$ !"e )a+i& !"ree ae+


?he the "cre8et !

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- 144 -

I# para8eter No( 192/ "! 1, !et the ector #ro8 po"t . o the too$ a7"! to po"t *

=eter8"e= o the too$ rotat"o a7"! a! the "ter!ect"o o##!et ector " the 8ach"e

coor="ate !

I# para8eter No( 192/ "! , !et the ector #ro8 po"t . o the too$ a7"! to po"t *

=eter8"e= o the !eco= rotat"o a7"! o# the too$ a! the "ter!ect"o o##!et ector " the

8ach"e coor="ate !

=e&ree!(

7*$+ )oo, &" +( )oo, ro)r2 &" (o +o) &+)$r"$%)

Too, ,$+g)* o''"$)

Too, *o,($r o''"$)

I+)$r"$%)&o+ o''"$) $%)or $)$$+ )oo, &"+( )oo, ro)r2 &"

E

Too, %$+)$r #o&+)

Co+)ro,,$( #o&+)

Too,ro)r2 &"

NOTEPo&+) &" ($)$r!&+$( 2 ((&+g )*$ )oo, ,$+g)* o''"$) +( )oo,*o,($r o''"$) :#r!$)$r No. 19666 )o )*$ )oo, ). A" #o&+) E "$) #o"&)&o+ )*) &" $"2 )o !$"r$.S$) r(&" ,$.

19716

I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e +e' a' $ir+! r#!a!i#' ae+ #$ !"e !##% (X-ai+ #$ !"e )a+i&

!"ree ae+

1971<I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e +e' a' $ir+! r#!a!i#' ae+ #$ !"e !##% (3-ai+ #$ !"e )a+i&

!"ree ae+

19718I'!er+e&!i#' #$$+e! ve&!#r )e!wee' !"e +e' a' $ir+! r#!a!i#' ae+ #$ !"e !##% (4-ai+ #$ !"e )a+i&

!"ree ae+


?he the "cre8et !

rotat"o a7"! o# the too$ a! the "ter!ect"o o##!et ector " the 8ach"e coor="ate !

%he the rotat"o a7e! #or cotro$$"& the too$ are a$$ at =e&ree!(

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- 145 -

7*$+ )oo, &" +( )oo, ro)r2 &" (o +o) &+)$r"$%)

Too, ,$+g)* o''"$)

Too, *o,($r o''"$)

I+)$r"$%)&o+ o''"$) $%)or $)$$+ )oo, &" +("$%o+( ro)r2 &" o' )oo,

E

Too, %$+)$r #o&+)

Co+)ro,,$( #o&+)

S$%o+( ro)r2&" o' )oo,

F

F&r") ro)r2 &" o' )oo,

I+)$r"$%)&o+ o''"$) $%)or $)$$+ "$%o+( +('&r") ro)r2 $" o' )oo,

NOTE A" #o&+) F "$) #o"&)&o+ )*) &" $"2 )o !$"r$.S$) r(&" ,$.

19781 Uer %i*i! #$ !"e *#ve*e'! ra'ge #$ !"e $ir+! r#!a!i#' ai+

PIp:t t


?he the "cre8et !

ceter po"t cotro$ ?t

?he the "cre8et !

ceter po"t cotro$ ?t

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- 142 -

PM"( :"t o# =ataQ .epe= o the "cre8et !

?he the "cre8et !

="rect"o cotro$ o# the t"$te= %or>"& p$ae "=e7"& ?G53(1@( he the 8oe8et ra&e

o# the !eco= rotat"o a7"! "! ot !pec"#"e=, th"! para8eter a= para8eter No( 1944 8:!t

;oth ;e !et to (

19788 L#wer %i*i! #$ !"e *#ve*e'! ra'ge #$ !"e +e' r#!a!i#' ai+

PIp:t t


?he the "cre8et !

="rect"o cotro$ o# the t"$te= %or>"& p$ae "=e7"& ?G53(1@( he the 8oe8et ra&e

o# the !eco= rotat"o a7"! "! ot !pec"#"e=, th"! para8eter a= para8eter No( 1943 8:!t

;oth ;e !et to (

D7 D D5 D8 D< D6 D1 D0

1978 CRS


?he the "cre8et !

I# the too$ 8oe! at the !pec"#"e= rate, the =e"at"o #ro8 the path 8a< e7cee= the a$:e

!pec"#"e= " th"! para8eter( I th"! ca!e, the rate "! =ecrea!e= !o that the too$ 8oe! a$o&the path(

Th"! para8eter "! a$"= %he ;"t 2 ?C+S@ o# para8eter No( 1942 "! !et to 1(

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- 14 -

he "! !et, the $ea!t "p:t "cre8et "! a!!:8e= to ;e the $"8"t o# the =e"at"o #ro8

the path(

I# a e&at"e a$:e "! !et, the rap"= traer!e rate "! ot =ecrea!e=(

NOTET*$ $rror g$+$r)$( ')$r )*$ r)$ &" ($%r$"$( !2 $ "!,,$r)*+ )*$ ,$ "$) &+ )*&" #r!$)$r ($#$+(&+g o+ )*$ %,%,)&o+$rror.

19756 Li*i! #$ !"e evia!i#' $r#* !"e a!" ($#r &/!!i'g $ee

PIp:t t

?he the "cre8et !

I# the too$ 8oe! at the !pec"#"e= rate, the =e"at"o #ro8 the path 8a< e7cee= the a$:e

!pec"#"e= " th"! para8eter( I th"! ca!e, the rate "! =ecrea!e= !o that the too$ 8oe! a$o&

the path(

Th"! para8eter "! a$"= %he ;"t 2 ?C+S@ o# para8eter No( 1942 "! !et to 1(

he "! !et, the $ea!t "p:t "cre8et "! a!!:8e= to ;e the $"8"t o# the =e"at"o #ro8

the path(

I# a e&at"e a$:e "! !et, the c:tt"& #ee=rate "! ot =ecrea!e=(

NOTET*$ $rror g$+$r)$( ')$r )*$ r)$ &" ($%r$"$( !2 $ "!,,$r)*+ )*$ ,$ "$) &+ )*&" #r!$)$r ($#$+(&+g o+ )*$ %,%,)&o+$rror.

D7 D D5 D8 D< D6 D1 D0

19758 IN4 TCR TAR

PIp:t t

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- 14/ -

#5 IN I#, " too$ ceter po"t cotro$ a= 3-="8e!"oa$ c:tter co8pe!at"o, a ta;$e coor="ate

!

' I the !tate " %h"ch each #:ct"o "! !tarte=, the %or>p"ece coor="ate !

P.ata t

I !:ch ca!e!, to preet the #ee=rate #ro8 ;eco8"& too $o%, " rap"= traer!e " too$

ceter po"t cotro$, th"! para8eter ca ;e :!e= to !et the $o%er $"8"t !pee= #or

=ece$erat"o(

For th"! para8eter to ta>e e##ect, ;"t 3 ?TA+@ o# para8eter No( 1954 8:!t ;e !et to 1( I#

;"t 3 ?TA+@ o# para8eter No( 1954 "! !et to , para8eter No( 13/ ;eco8e! e##ect"e(

Note that #or $"ear "terpo$at"o, para8eter No( 13/ ;eco8e! e##ect"e, %h"$e #or

c"rc:$ar "terpo$at"o, para8eter No( 13 ;eco8e! e##ect"e(

1971 Per*i++i)%e +ee i$$ere'&e i' +ee e!er*i'a!i#' /+i'g !"e +ee i$$ere'&e a! a r'er ($#r rai!raver+e i' !##% &e'!er #i'! '!r#%

PIp:t tP0a$"= =ata ra&eQ +e#er to the !ta=ar= para8eter !ett"& ta;$e ?C@

?he the "cre8et !

="##erece at a corer "! :!e=, a= the cha&e! " the !pee= co8poet o each a7"!

e7cee=! the !ett"& o# th"! para8eter at a ;$oc> o"t, a #ee=rate that =oe! ot e7cee= the

!ett"& "! =eter8"e=, a= =ece$erat"o "! per#or8e= :!"& acce$erat"o=ece$erat"o ;e#ore "terpo$at"o( Th"! ca re=:ce the !hoc> to the 8ach"e at a corer, a! %e$$ a

8ach""& error!(

For th"! para8eter to ta>e e##ect, ;"t 4 ?TC+@ o# para8eter No( 1954 8:!t ;e !et to 1( I#

;"t 4 ?TC+@ o# para8eter No( 1954 "! !et to , para8eter No( 1/3 ;eco8e! e##ect"e(

he ;"t 4 ?TC+@ o# para8eter No( 1954 "! !et to 1, #or a< a7e! #or %h"ch "! !et #or

th"! para8eter, !pee= =eter8"at"o :!"& the !pee= ="##erece at a corer "! ="!a;$e= "

rap"= traer!e =:r"& too$ ceter po"t cotro$(

1976Per*i++i)%e a&&e%era!i#' $#r ea&" ai+ i' !"e e&e%era!i#' $/'&!i#' /+i'g !"e a&&e%era!i#' i' AI '!#/r

'!r#% ($#r rai !raver+e i' !##% &e'!er #i'! '!r#%

PIp:t t

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- 149 -

PM"( :"t o# =ataQ .epe= o the "cre8et !

P0a$"= =ata ra&eQ +e#er to the !ta=ar= para8eter !ett"& ta;$e ?.@

?For a 8"$$"8eter 8ach"e, ( to 1(, #or a "ch 8ach"e, ( to 1(@

Th"! para8eter !et! the per8"!!";$e a$:e o# the acce$erat"o that %"$$ occ:r =:e to

cha&e! " the ="rect"o o# 8oe8et a$o& the $"ear a7"! " rap"= traer!e =:r"& too$

ceter po"t cotro$(

For th"! para8eter to ta>e e##ect, ;"t 3 ?TA+@ o# para8eter No( 1954 8:!t ;e !et to 1( I#

;"t 3 ?TA+@ o# para8eter No( 1954 "! !et to , para8eter No( 13 ;eco8e! e##ect"e(

he ;"t 3 ?TA+@ o# para8eter No( 1954 "! !et to 1, #or a< a7e! #or %h"ch "! !et #or

th"! para8eter, the =ece$erat"o #:ct"o :!"& the acce$erat"o "! ="!a;$e= " rap"=

traer!e =:r"& too$ ceter po"t cotro$(

Note that #or $"ear "terpo$at"o, para8eter No( 13 ;eco8e! e##ect"e, %h"$e #or

c"rc:$ar "terpo$at"o, para8eter No( 135 ;eco8e! e##ect"e(

Li*i!a!i#'- Ma'/a% i'!erve'!i#' !# a r#!a!i#' ai+O a 8ach"e o# ta;$e rotat"o t-ahea= acce$erat"o=ece$erat"o ;e#ore "terpo$at"o

"! a:to8at"ca$$< ea;$e=( Set the para8eter #or $oo>-ahea= acce$erat"o=ece$erat"o ;e#ore "terpo$at"o(

I# the para8eter "! ot !et correct$

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- 14/ -

- :e&e%era!i#' a! a r'erU=er too$ ceter po"t cotro$, the cotro$$e= po"t 8a< 8oe a$o& a c:re ee "# a !tra"&ht-$"e

co88a= "! "!!:e=( So8e co88a=! 8a< ca:!e a corer 8oe8et(

he AI coto:r cotro$ "! ot :!e=, a !hoc> ca ;e app$"e= to the 8ach"e at a corer(

So, "t "! reco88e=e= to :!e AI coto:r cotro$ a! %e$$ a= !et a a$$o%a;$e !pee= ="##erece at a corer?para8eter No( 1/3@ a= a a$$o%a;$e acce$erat"o rate ?para8eter! No!( 122 a= 13@(

-

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- 14/1 -

- $ae !e$ect"o ?G1G1/G19@

- C:tter co8pe!at"o ' cace$ ?G4@

- 3-="8e!"oa$ c:tter co8pe!at"o ?G41(G4(G41(4G4(4G41(5G4(5@

- Too$ $e&th co8pe!at"o cace$ ?G49,G49(1@

- Sca$"& ?G5G51@

- ro&ra88a;$e 8"rror "8a&e ?G5(1G51(1@

- Mach"e coor="ate !

- Macro ca$$ ?G25@

- Macro 8o=a$ ca$$ A ?G22@

- Macro 8o=a$ ca$$ E ?G22(1@

- Macro 8o=a$ ca$$ AE cace$ ?G2@

- T"$te= %or>"& p$ae "=e7"& ?G2/(G2/(3G2/(4@

- A;!o$:te pro&ra88"& ?G9@

- Icre8eta$ pro&ra88"& ?G91@

- Ier!e t"8e #ee= ?G93@

- Cae= c"& p$ae "=e7"& cace$ ?G29@

- Fee= per 8":te ?G94@

- Fee= per reo$:t"o ?G95@

T - T"$te= %or>"& p$ae "=e7"& cace$ ?G29(1@

- Fee= per 8":te ?G9/ ?G94@@- Fee= per reo$:t"o ?G99 ?G95@@

- M#a% G e+ !"a! a%%#w +e&i$i&a!i#' #$ !##% &e'!er #i'! '!r#% Too$ ceter po"t cotro$ ca ;e !pec"#"e= " the 8o=a$ G co=e !tate! $"!te= ;e$o%(

I a 8o=a$ !tate other tha the #o$$o%"& 8o=a$ G co=e!, !pec"#

- Cae= c

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- 14/ -

- Li'ear ae+ /'er !##% &e'!er #i'! '!r#% The ;a!"c three a7e! !et " para8eter No( 1 are re&ar=e= a! the three $"ear a7e! #or too$ ceter po"t

cotro$( A7e! para$$e$ to the ;a!"c three a7e! caot ;e :!e= a! the $"ear a7e! #or too$ ceter po"tcotro$(

I# the ;a!"c three a7e! are ot !et " para8eter No( 1, a$ar8 S5459 "! "!!:e=(

T - E!e'e !##% +e%e&!i#'

he too$ ceter po"t cotro$ "! :!e= %"th a $athe !

?;"t 3 ?TCT@ o# para8eter No( 54 1@(

I th"! ca!e, o$< the a$:e !et " o the too$ co8pe!at"o 8e8or< !cree "! :!e= a! a too$ $e&th

co8pe!at"o a8o:t( Set a$:e! !:ch a! X, +, a= 6 a7"! o##!et a$:e! are ot :!e=(

A%ar* a' *e++ageN#. Me++age :e+&ri!i#'

PS54>0 IEGA PA@AMETE@ IN

G43.4/G43.5

A #r!$)$r r$,)$( )o )oo, %$+)$r #o&+) %o+)ro, &" &,,$g,.

- A%%$,$r)&o+/($%$,$r)&o+ $'or$ &+)$r#o,)&o+ &" (&",$(. S$)

#r!$)$r No. 1660.

- @#&( )r$r"$ %%$,$r)&o+/($%$,$r)&o+ $'or$ &+)$r#o,)&o+ &"

(&",$(. S$) &) 1 o' #r!$)$r No. 1401 &) 5 o' #r!$)$r No.

19501 #r!$)$r No. 161 +( #r!$)$r No. 16>.

- T*$ AI %o+)or %o+)ro, o#)&o+ &" "$+).

S$) &) > :AAI o' #r!$)$r No. 11>60 )o 0.

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- 14/3 -

N#. Me++age :e+&ri!i#'

PS54>1 IEGA COMMAN IN

G43.4/G43.5

A+ &,,$g, %o!!+( " "#$%&'&$( &+ )oo, %$+)$r #o&+) %o+)ro,.

- A ro))&o+ &" %o!!+( " "#$%&'&$( &+ )oo, %$+)$r #o&+) %o+)ro,

:)2#$ > !o($.

- 7&)* ),$ ro)r2 )2#$ or %o!#o"&)$ )2#$ !%*&+$ IJK

%o!!+( " "#$%&'&$( &+ )*$ )oo, %$+)$r #o&+) %o+)ro, :)2#$ >

%o!!+( :G43.5 ,o%.

- A %o!!+( )*) (o$" +o) !o$ )*$ )oo, %$+)$r #o&+) 'or )*$

or#&$%$ :o+,2 ro))&o+ &" &" !o$( " "#$%&'&$( &+ )*$ G0>

!o($.

- 7*$+ )*$ or#&$%$ %oor(&+)$ "2")$! &" "$) " )*$ #rogr!!&+g

%oor(&+)$ "2")$! :&) 5 :7KP o' #r!$)$r No. 19696 &" 1 G0>

or G03 " "#$%&'&$( *&,$ )*$ ro))&o+ &" " +o) #$r#$+(&%,r

)o )*$ #,+$.

- A G %o($ +o) "#$%&'&,$ (r&+g )*$ )oo, %$+)$r #o&+) %o+)ro, !o($

" "#$%&'&$(.

- T*$ !o(, %o($ "$( )o "#$%&'2 )oo, %$+)$r #o&+) %o+)ro, &"

&+%orr$%).- I' &+ )oo, %$+)$r #o&+) %o+)ro, !o($ +2 o' )*$ 'o,,o&+g %o+(&)&o+"

&" !$) + &" +o) r$,)$( )o )oo, %$+)$r #o&+) %o+)ro, :+o+ 5-&"

!%*&+&+g %o+)ro, &" &" "#$%&'&$(

:1 T*$ o#)&o+ )*$ $#+"&o+ o' &" !o$ %o!!+( &+ )oo,

%$+)$r #o&+) %o+)ro, &" +o) #ro&($(.

:> T*$ +!$r o' +o+ 5-&" !%*&+&+g %o+)ro, $" $%$$(" )*$

!&!! +!$r o' $" )*) %+ $ "#$%&'&$(.

:3 N+o "!oo)*&+g or NU@BS &+)$r#o,)&o+ &" #$r'or!$(.

- 7*$+ &) 0 :@CM o' #r!$)$r No. 11>00 &" "$) )o 0 )o (&",$

)oo, (&r$%)&o+ %o!#$+")&o+ )oo, %$+)$r #o&+) %o+)ro, &" "#$%&'&$(

(r&+g )*$ or#&$%$ "$))&+g $rror %o!#$+")&o+/)&,)$( or&+g

#,+$ &+($&+g !o($.- 7*$+ )oo, #o")r$ %o+)ro, &" $+,$( +($r )oo, %$+)$r #o&+)

%o+)ro, :)2#$ > %o!!+( &" "#$%&'&$( )o "$) )oo, #o")r$ +$r

"&+g,r #o&+). :T*&" ,r! !2 $ "##r$""$( &)* &) 3 :NPC

o' #r!$)$r No. 19696. C*$% )*$ !%*&+$ %o+'&gr)&o+ +(

"#$%&'&%)&o+.

- 7*$+ )oo, #o")r$ %o+)ro, &" $+,$( +($r )oo, %$+)$r #o&+)

%o+)ro, :)2#$ 1 ro)r2 &" +g,r (&"#,%$!$+) )*) (&",$"

)oo, #o")r$ %o+)ro, &" "#$%&'&$(. C*$% )*$ !%*&+$ %o+'&gr)&o+

+( "#$%&'&%)&o+.

- r&+g )oo, %$+)$r #o&+) %o+)ro, :)2#$ > or )oo, #o")r$ %o+)ro,

NU@BS &+)$r#o,)&o+ &" "#$%&'&$(. C*$% )*$ "#$%&'&%)&o+.

- I+ "))$ &+ *&%* )*$ "*&') o' !&rror &!g$ r$!&+" )oo, %$+)$r

#o&+) %o+)ro, )oo, #o")r$ %o+)ro, or )*$ %))&+g #o&+) %o!!+( &"

"#$%&'&$(.

PS54>> EXCESS DEOCIT IN

G43.4/G43.5

A+ ))$!#) " !($ )o !$ !o$!$+) ) + &" '$$(r)$

$%$$(&+g )*$ !&!! %))&+g '$$(r)$ 2 )oo, %$+)$r #o&+) %o+)ro,.

PS54>4 IEGA TOO I@ECTION T*$ ro))&o+ &" #o"&)&o+ 'or "#$%&'2&+g )*$ )oo, &" (&r$%)&o+ &" +o)

L90 + :+ 0 1 > .

PS54>5 IEGA OFFSET DAUE T*$ o''"$) +!$r &" &,,$g,.

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N#. Me++age :e+&ri!i#'

PS5459 MACHINE PA@AMETE@

INCO@@ECT

- T*$ #r!$)$r" No". 19665 )o 1966 +( 19680 )o 1944 'or

%o+'&gr&+g )*$ !%*&+$ r$ &+%orr$%).

- T*$ &" "#$%&'&$( &)* #r!$)$r No. 19681 or No. 19686 &" +o)

ro)r2 &".

- I+ #r!$)$r No. 10>> )*$ "&% )*r$$ $" r$ +o) "$).

- A ro)r2 &" $+( #o&+) 'o+( 2 )*$ NC &)* )oo, %$+)$r #o&+)

%o+)ro, )2#$ > 3-(&!$+"&o+, %))$r %o!#$+")&o+ )2#$ > or )*$

)&,)$( or&+g #,+$ &+($&+g &" +o) &)*&+ )*$ r+g$ "$) 2

#r!$)$r" No". 1941 )o No. 1944.

- No ro)r2 &" $+( #o&+) " 'o+( &)* )oo, %$+)$r #o&+) %o+)ro,

)2#$ > or 3-(&!$+"&o+, %))$r %o!#$+")&o+ )2#$ >. C*$% )*$

!%*&+$ %o+'&gr)&o+ +( "#$%&'&%)&o+.

- O+ !%*&+$ *o"$ ro)r2 &" &" &r), &" )oo, %$+)$r #o&+)

%o+)ro, )2#$ > or 3-(&!$+"&o+, %))$r %o!#$+")&o+ )2#$ > "

"#$%&'&$(.

- 7*$+ #rogr!!&+g &" #$r'or!$( &+ )*$ or#&$%$ %oor(&+)$

"2")$! )oo, %$+)$r #o&+) %o+)ro, )2#$ > or 3-(&!$+"&o+, %))$r%o!#$+")&o+ )2#$ > &" "#$%&'&$(.

- I' #r!$)$r 'or "$))&+g 5-&" !%*&+&+g '+%)&o+ )*$

r$'$r$+%$ ro))&o+ &" #o"&)&o+ &" )o $ "$) &+ )*$ !%*&+$

%oor(&+)$ "2")$! :&) :SPM o' #r!$)$r No. 1954 1 +

&+%,&+$( ro)r2 &" &" "$(.

Re$ere'&e i!e*Ma'/a% 'a*e I!e* 'a*e

OPE@ATO@;S MANUA :B-64484EN Too, %$+)$r #o&+) %o+)ro,

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