CNC

II

:
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2014.
______________________________________________________________________________

II

CNC

II

:
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2014.
______________________________________________________________________________
2

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2. , ,
3. , ,
4. ,

II

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:
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... .

II

:
.......................................................................................................6
....................................................................................................7
1 ...........................................8
1.1 .............................................................................9
1.2 ....................................................................10
1.3 .............................................................................11
1.4 ....................................................................12
1.5 .................................14
1.6 .........................16
1.6.1 ............17
1.6.2 .............17
1.6.3 ................19
2 .................................................................................20
2.1 .....................................................21
2.2 ...........................................................22
2.3 ...............................................................................23
2.4 ........................................................................25
2.5 .........................................................................................25
2.6 CNC ........................................................................28
2.7 ....................35
3
...................................................................................................................................37
3.1 3D CAD............................................................38
3.2 CAM.......................................40
3.2.1 CAM CNC ....................42
4 ...........................................55
4.1 ...............................................................................55
4.2 .......................................................................................57
4.3 ..........................................................................................62
4.4 ..................................................................................................64
4.4.1 PD ..........................................66
4.4.2 ..........67
4.4.3 ..................................68
4.5 .....................................................................................................70
5 ..74
5.1 NACHI 70....................................................................................................76
5.2 ...................................81
6 .....93
...................................................................................................................................94

II

CNC

.

, ,
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. CNC
,
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.
6
.
.
CNC .

.

II

Designing a robotic manufacturing cell based on CNC plasma cutting machine

bstract
Production engineering and manufacturing technologies represent an interesting area
for application of the latest achievements in the field of information technology. Through the
development of machine tools with computerized numerical control in recent years, on the one
hand, the development of personal computers and their software support on the other hand,
with the development of modern communication systems and techniques created conditions
for further progress in this area.The application of CNC plasma machine in the process of cutting
has led to some improvements since the reduced cutting time and improved quality have been
obtained. This greatly reduces finishing processes, increases productivity and reduces
production costs because it almost eliminates the use of expensive tools. Palletizing of sheet
metal parts is performed manually after the process of natural cooling. That makes palletizing
quite a long process, when a great part of time is lost. The palletizing process could be improved
by using a robot with six degrees of freedom and with an additional linear axis due to the table
length. The aim of the research is related to mastering techniques for flexible cell technology. It
is necessary to study the communication between modern CNC and robots that make flexible
manufacturing cell. Particular attention should be paid to the form and type of data which are
used in this system as well as their transformations and flows.

II

1.

.
.
.

, ,
,
.
CAD (. Computer Aided Design) .
,
. ,
.
.
(
)
. (. flexibile
automation) .
.

:

(. short-time, long-time flexibility).

,
.

.
.

. ,
.
8

II

o
, :

1.1.

,
,

.

,
. :
CNC , , ,
, .

1.1 [1]

10

II

1.2.

(. flexibile manufacturing cell) /

. ()
,
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.

1.2 [2]
1.2 .
,
,
. ,
. ,
, , .

10

11

II

1.3.

, . .

.

1.3 [2]
, ,
.
. , .
.
(engl. buffers) .

11

12

II

1.4.

(. )
. .

.
,
. . ,
.
. ,
.
,
. (.
Flexibile manufacturing system - FMS).

, () .

.
. .

1.4 [2]

12

13

II

1.5 [2]

1.5
o .

1.6 - [2]
-
.
.

13

14

II

1.5.

-. , ,
CNC . ,

.

.
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1.7 [2]

.
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14

15

II

.
. .
. ,
, .

.

15

16

II

1.6.

.

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1.8
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16

17

II

1.6.1.

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17

18

II

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18

19

II

1.6.3.
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19

20

II

2.
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2.1 [3]

.
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.

20

21

II

.

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:
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2.1.

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.

.
, 2.1.

,
,

.

,

.

21

22

II

,
,
,
-

,
.

PAM ( . Plasma Arc Machining)

.
, .
1950 .

2.2.

, .
, 2.2.
.

2.2 (, , ) [1]
,
. .

.
2.3. ,
,
.
.

22

23

II

2.3 [1]

, .
.
2.2 .
.
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2.3.

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.
25 000 C, 2.4.

23

24

II

2.4 [3]
,
.
:

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I (A) - ,
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,
r (cm) - .

.

,
.

24

25

II

2.4.

2.5.

,
,
,
,
,
,
- (, ,),
(. Plasma Surface Engineering PSE), .

.
.

, 2.5. 50 mm ,
CNC 150 mm.
.

2.5 [3]

25

26

II

.
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(
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1,3 do 7 m/min,
0,5 3 m/min. 2.1
3
20 mm 85.

26

27

II

2.1 Hypertherm- [4]

mm
3
4
5
6
8
12
16
20

mm

mm

3,8
1,5
4,5
4,5

s
0,1
0,2
0,5
0,5
0,5
0,7
1
1,5

mm/min
6800
5650
3600
2500
1680
870
570
1370

V
120
122
125
127
128
130
133
136

. ( 70 mm)
. , 20 mm,
3-5 .

27

28

II

2.6.

CNC

CNC
... , 2.6. CNC :

,

.

2.6 CNC

28

29

II

CNC :
-

: CNC
2000x6000mm,
: ,
: 200x2000x6000mm,
: 1880x2660x6500mm,
5 10 bar,
,
Hypertherm 85A,
20mm.

1880x2660x6500mm
Y Z.

Y. Y 2 ,
2.7.

2.7 CNC
Z
. Z
THC(. Torch Height Control).

29

30

II

THC
.
,
.
. , THC
.

.
.

.

:
-

PC ,
,

().

PC (RS232) (LPT)
. RS485 ,
PC .
.
4 Nema 23, 2.8.
48V.
GECKO 2.9.

2.8 Nema 23 [5]

30

31

II

2.9 Gecko G251 [5]

Gecko G251
. . 2.2
.
2.2 Gecko G251 [5]

15

50

VDC

3.5

70

250

kHz

95

2.10:
-

,
,
()
.
31

32

II

2.10 [3]
2.11
. 45
85 140V.

2.11 [4]

( )
. 7
10 bar.
.

32

33

II

() .
j, .
(, , ).
2.11a.

2.11 .) .) .) [3]
.
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.

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.
.


.
.

2.12. :
.

33

34

II

2.12 [4]

: 1( ), 2( ),
3 (), 4() 5( ).

2.13 [4]
.

.
.

3,4 5.
( 3) 1
2mm .

. .

.

34

35

II

2.7.

.
(mm/min)

.
P (P=I U) .
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( , ,
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N8N12.

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35

36

II

.
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2.14 (1), (2) (3)

EN-9013. .
:

Kt - ,
Kb - ,
St -
- .

2.15 [3]

36

37

II

3.

CNC , ,
,
. ,
/ , ,
CNC , , .

3.1 CNC
CNC .
CNC ,
,
.
, .
, ,
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.
CNC
. (. Computer-aided technologies CAx)
,
.
CAx
(. Product Lifecycle Management PLM), j (. Computer-aided design CAD),
(. Finite element analysis FEA),

37

38

II

(. Computer-aided manufacturing CAM) .

CAD/CAM- .

. CAD-
CAM-. , CAD-
u CAM
o
CNC .

3.1. 3D CAD
, , 3D
SolidWorks. SolidWorks 3D CAD
, , . 3D

, , , j, ,
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SolidWorks ,
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. SolidWorks 3D CAD
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SolidWorks 3D CAD
,
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3D .
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.

.
(. eDrawings)
2D 3D
.
.

38

39

II

, ,
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.

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()

.
SolidWorks 3D CAD :

,
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CAD CAM ,
CAM-.

39

40

II

3.2.

CAM

CAD
CNC , .
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CAM-.
CAM ,

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CAM :

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CAM CAD

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40

41

II

CAM
, ,
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CAM . ,
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CAM , ,
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41

42

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3.2.1. CAM CNC

SheetCam TNG V6.1.8. CAM , ,
.
SheetCam CAM ,
. .
,
3.2.
.
Options.

3.2

42

43

II

SheetCam , 3.3:

a e (, )
(, ).

3.3
, .
. CAM
CNC . ,
CL
(. Cutter Location Data file).
, CAM , CNC
, .

43

44

II

3.4
,
, , ,
.
CNC
. .
X Y .

3.5 CNC

.

44

45

II

3.6 CNC

CAM CAD- DXF (. Drawing Exchange Format),

Autodesk. CAD
AutoCAD- . DXF 2D
, , ,
.
DXF .
SheetCam TNG V6.1.8. 3.7
, NC . CAM-
,
.
3.7 ,
., .
.

45

46

II

3.7

.
( ).
,
e .
3.8
, .
, .

3.8

, 3.8.
.

. 5.
, .
,
. / (. Layer)
. .

46

47

II

.
.
,
.
o
3.9. ,

.

3.9

.
.
. CAM-
. : ,
, , a ,
, .

47

48

II

3.10

.
.
.
,
.
.

. . 20 2,
19.

, 3.11.

48

49

II

3.11

CAM ,
.
,
. (
), .
. ,
, .
.
,
3.13.
SheetCam , 3.12.
.
. ,
, .
49

50

II

3.12
.

.
SheetCam 3.13
.

50

51

II

3.13 SheetCam-

, .
.
CNC .
3.1
3.13.

:

N ,
G00 ,
G01 ,
G02 ,
G03 ,
G04 ,
G21 ,
G28.1 ,
G40 ,
G53 ,
G90 ,
G92 ,
S10 (HC),
S20 (HC),
51

52

II

X, Y,Z ,
F ,
M03 ,
M05
.

3.14 CNC

52

53

II

3.1 CNC
N0010 (Filename: Kvadarat rupe.tap)
N0020 (Post processor: MP3000-DTHCII+scriber2 prepravljani 1m.scpost)
N0030 (Date: 04/10/2014)
N0040 G21 (Units: Metric)
N0050 F1
N0060 G53 G90 G40
N0070 S10 (DTHC is off)
N0080 (Part: Kvadarat rupe)
N0090 (Operation: Outside Offset, 0, T4: Alat broj 1)
N0100 G00 X0.0000 Y0.0000
N0110 Z0.0000
N0120 (tool number: 4 Feedrate: 3000)
N0130 (No Stored DTHC parameters in this POST)
N0140 G00 Z10.0000
N0150 X217.4000 Y6.9630
N0160 Z3.0000
N0170 G28.1 Z3.00 F2000.0
N0180 G92 Z0.0
N0190 G00 Z0.0000
N0200 G92 Z0.0
N0210 G00 Z3.0000
N0220 M03
N0230 G04 P1
N0240 G01 Z1.5000 F1000.0
N0250 G02 X211.0000 Y13.3630 I0.0000 J6.4000 F3000.0
N0260 S20 (DTHC is on)
N0270 G01 Y110.0000
N0280 G03 X210.0000 Y111.0000 I-1.0000 J0.0000
N0290 G01 X10.0000
N0300 G03 X9.0000 Y110.0000 I0.0000 J-1.0000
N0310 G01 Y10.0000
N0320 G03 X10.0000 Y9.0000 I1.0000 J0.0000
N0330 G01 X210.0000
N0340 G03 X211.0000 Y10.0000 I0.0000 J1.0000
N0350 G01 Y13.3630
N0360 G02 X217.4000 Y19.7630 I6.4000 J0.0000
N0370 M05
N0380 G04 P2
N0390 G00 Z10.0000
N0400 X103.6000 Y77.6000
N0410 Z3.0000
N0420 Z3.0000
N0430 M03
N0440 G04 P1
N0450 G01 Z1.5000 F1000.0
N0460 G02 X110.0000 Y84.0000 I6.4000 J0.0000 F3000.0
N0470 I0.0000 J-24.0000
N0480 X116.4000 Y77.6000 I0.0000 J-6.4000
N0490 M05
N0500 G04 P2
N0510 G00 Z10.0000
N0520 X0.0000 Y0.0000

53

54

II

NC
CAM-,
CNC .
MACH3 ,
3.15.
CNC .

3.15 , MACH3

54

55

II

4.

4.1.

,,, ,,
.
. .
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.
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.
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SCARA ,

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( )
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55

56

II

.
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56

57

II

4.2.

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4.1 [6]

. n .
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57

58

II

4.2 () ()

4.3 () ()

se
. .

. 3
(x, y, y).
(,,) .
3+3=6 .
4, 5 6 .

:

.
,
.

58

59

II

qi, i =
1,2,...,n :

(4.1)

4.4 [6]

.
x, y z, .


(,,), 4.4:
- (ROLL)
- (PITCH)
- (YAW)

4.4
59

60

II

4.5 [6]
z ,
y ( ),
x ( ).
s :

x, y z

, , ,
() :

(4.2)

s
q .
:
(4.3)

:
(4.4)
60

61

II

4.6 [6]
,
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,

.

61

62

II

4.3.

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62

63

II

,

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1kHz,
1ms.
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.

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.
,
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.

63

64

II

4.4.

.
CNC :

,
,

,
.

4.7 [6]

(
),
. (
)
. ,
,
.
(. ff line)
(. n line) .

64

65

II

,
j
.
:

(. oint to point) .
,

(. tracking control),

, .

.
.
:

,

.

.

.
.

65

66

II

4.4.1. PD

. (. feedback
control) ,
PD .
:
(4.5)
:
,
,
,
,
,
,
.

4.8 PD [6]



.
.

66

67

II

.
,

( )
.

.

4.4.2.
:

(. feedforward
control) :

( PD ).

.

.
:

(4.6)

(
).

67

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II

4.9 [6]

4.9.

PD
.
4.4.3.
(. computed torque control)
online :
(4.7)
:
(4.8)
a

.
,

.

. ,

,
.

68

69

II

,
,


,

.

4.10 [6]
:

,
,
(,
),
,
on-line
.

69

70

II

.
:

(. Model Reference Adaptive

Control)
(. Selftuning Adaptive
Control).

4.5.

,
. , ,
.
, :

,
,
,
,
,
, .

.
.
:

( ),
(, , ),
CNC ( ),
, , .

.
. :

,
.

70

71

II

CNC .
.
, 4.11, :
,
,

.

4.11 (1),
(2), (3), (4), (5) [7]

.
.
.
( ),
, ,
12.

71

72

II

4.12 [7]

.

. .
.
.
:

4.13
(1) , (2) , (3)
(4) .
.
, 4.14

.
.

72

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II

4.13 [7]

4.14 Schmalz,
180N [8]

73

74

II

5.

CNC ,

.

CNC
. CNC
.
, 5.1.

5.1

(), :

,
,

.

74

75

II

CNC
, .
,
.
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.

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,
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.
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,
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.

e:

,
,
,
,
.

75

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II

5.1.

NACHI 70

NACHI 70

. ( ),
, (. Teach Pendant), 5.2.
,
.

5.2 NACHI 70 [9]

.

.
.

.
, (. Deadman Switch)

, 5.3. ,

.

76

77

II

(Deadman Switch)

5.3
[9]

. .
,
.

.

5.4
[9]

77

78

II

5.4
ON ( ) OFF
( ) .
(. Teach mode) (. Run mode).

.

.

. ,
(. touch screen) 5.5.

5.5 [9]

78

79

II

5.6 [9]
5.6 ,
, , ,
.
,
( ) .

79

80

II

5.7 [9]

. (. Pose),
.
, .
.
Edit.
.

80

81

II

5.2.

: CNC
, (
). .
.

5.8
CAD
. DXF
CAM . CAM- G CNC
.
CAM-
.
.
.

.
NACHI
. 5.9 ,
( ) .

81

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5.9 - [11]

CNC , NACHI
:

,

.

5.10 CNC

82

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II

,
CAM-
.

DXF CAD-
. ,
(
)
( ).
5.11.

5.11 CNC

.
.

5.12.

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II

5.12
5.12
r :

(5.1)
(5.2)
(5.3)

5.13 CNC ,
. xy . osa z
xy. ()
, 5.14.

5.13
84

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II

5.14. [10]
6 5.15.
1.
CNC .
CNC . ,
2 .
3 ( 1 3 z ). ,
4
, 5
. 6 ( 4 6
z )
.
(),
.
.

5.15

85

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II

5.1 ,
.
:

MOVEX,
SET,
RESET
DELAY.

5.1
MOVEX A=,AC=,SM=,M1X,P,(x,y,z,r,p,y),R=,H=,MS, CONF=0000
MOVEX A=,AC=,SM=,M1X,P,(x,y,z,r,p,y),R=,H=,MS, CONF=0000
SET O5
DELAY 1
MOVEX A=,AC=,SM=,M1X,P,(x,y,z,r,p,y),R=,H=,MS, CONF=0000
MOVEX A=,AC=,SM=,M1X,P,(x,y,z,r,p,y),R=,H=,MS, CONF=0000
MOVEX A=,AC=,SM=,M1X,P,(x,y,z,r,p,y),R=,H=,MS, CONF=0000
RESET O5
DELAY 1
MOVEX A=,AC=,SM=,M1X,P,(x,y,z,r,p,y),R=,H=,MS, CONF=0000

( 1 5.15)
( 2 5.15)

( 3 5.15)
( 4 5.15)
( 5 5.15)

( 6 5.15)

MOVEX :

,,,, (. Accuracy) ,
0 8,
,,AC,, (. Acceleration) ,
0 8,
,,SM,, (. Smothness) , 0 8,
,,M1X,, M1 FD ,
,,P,,(. Pose) .
,
R (. ratio) ,
,,H,, ,
,,MS,, (.
),
,,CONF,, (. Configuration)
.

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,,SET,, . ,,,,(. Output), RESET

. ,,DELAY,,

++
, 5.2.

++
:
,
(
).
CNC

.

5.2 ++

#include <iostream>
#include <fstream>
#include <string>
#include <stdlib.h>
#include <math.h>
using namespace std;
string traziX="X",traziY="Y";
string brojacX[100000],brojacY[100000];
double brojacXbroj[100000], brojacYbroj[100000];
double duzina=0, sirina=0, r=0;//duzina,sirina i orijentacija komada
//udaljenost koordinatnog pocetka plazme u odnosu na robotski bazni koordinatni sistem
int pomjerajXplazma=320, pomjerajYplazma=1440, pomjerajZplazma=172;
//udaljenost koordinatnog pocetka palete u odnosu robotski koordinatni sistem
int pomjerajXpaleta=645, pomjerajYpaleta=150, pomjerajZpaleta=169;
//zadajemo broj redova i kolona
int brojRedovaPaleta=1, brojKolonaPaleta=3;
//stavlja 0 ili 1 u conf zavisno od toga da li je Y koordinata manja ili veca od nule(lijevi ili desni koordinatni sistem),
// 'a' ide za prve tri komande a 'b' za poslednje tri komande
int a , b;

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int n=0;
ifstream inFile;
string linija, x, y, xOld, yOld;
//program za pronalazenje tacaka u G kodu
int main()
{
// u zagradi stavljamo naziv tap datoteke gdje se nalaze informacije o poziciji i orijentaciji dijelova
inFile.open("tacke.tap");
size_t pozX,pozY;
while(!inFile.eof())
{
getline(inFile,linija);
pozX=linija.find(traziX);
pozY=linija.find(traziY);
if(pozX!=string::npos || pozY!=string::npos)
{
if (pozX!=string::npos)
{
x = linija.substr((pozX+1),7);
xOld = x;
}
else
{
x = xOld;
}
if (pozY!=string::npos)
{
y = linija.substr((pozY+1),7);
yOld = y;
}
else
{
y = yOld;
}
brojacX[n] = x;
brojacY[n] = y;
n=n+1;
}
}
//ovdje ispisujemo te brojeve, konvertujemo stringove u brojeve da bi mogli da koristimo u racunanju i pretvaramo
koordinate x=y, y=-x
for (int i=1; i<(n-1); i=i+1)
{
//ispis tacaka na konzoli na stolu plazme
//cout << brojacX[i] << "\t" << brojacY[i] << endl;
//konverzija stringova u double i zamjena koordinata
brojacXbroj[i] = atof(brojacY[i].c_str());
brojacYbroj[i] = -atof(brojacX[i].c_str()); //ovdje se dodaje radijus kruga, znak + je zato sto kod robota u
ovome slucaj y osa i suprotnog smijera u odnosu na x osu desnog kooridatnog sistema
//ispis double vrijednosti na konzoli zamjenjenih u robotske koordinate
//cout << brojacXbroj[i] << "\t" << brojacYbroj[i] << endl;
}
//upis podataka u komande robota i spremanje u datoteku
//u zagradi stavljanmo naziv txt datoteke gdje zelimo sacuvati podatke
ofstream izlaz("kod.txt");
int redPaleta = 0;
int kolonaPaleta = 0;

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double promjenaZpaleta=0;
//prva i zadnja x i y koordinata je nula pa ih treba izbaciti
//na svakom komadu postoje tri tacke jedna u centru gravitacije i dvije koje odredjuju duzinu,sirinu i orijentaciju
komada na radnom stolu CNC plazme
for (int i=1; i<(n-1); i=i+3)
{
//ovdje se racuna ugao hakrenutosti komada na radnom stolu CNC plazme u stepenima
r = atan2( (brojacXbroj[i+2]-brojacXbroj[i]), (brojacYbroj[i+2]-brojacYbroj[i]) );//neophodno je koristiti
funkciju atan2 radni oredjivanja oktanta gdje se nalazi krak ugla
//ovdje treba paziti sta se koristi za racunanje duzine, sirine i r zbog prethodne zamjene koordinata
duzina = (brojacYbroj[i]-brojacYbroj[i+2]) * 2;
sirina = (brojacXbroj[i+1]- brojacXbroj[i]) * 2;
//ovdje mijenjamo duzinu u pozitivan broj ako je slucajno negativan
if (duzina <0)
{
duzina=duzina*(-1);
}
if (sirina <0)
{
sirina=sirina*(-1);
}
//stavlja 0 ili 1 u conf na trecu poziciju zavisno od toga da li je Y koordinata manja ili veca od nule ali samo u
prve tri MOVEX komande
if ((pomjerajYplazma + brojacYbroj[i])<0)
{
a=1;
}
else
{
a=0;
}
//stavlja 0 ili 1 u conf na trecu poziciju zavisno od toga da li je Y koordinata manja ili veca od nule ali samo u
poslednje tri MOVEX komande
if (( pomjerajYpaleta - (duzina/2) / cos(r) - kolonaPaleta * duzina)<0)
{
b=1;
}
else
{
b=0;
}
//PLAZMA
//pozicioniramo hvataljku iznad komada, tacka 1 u objasnjenju
izlaz << "MOVEX A=6,AC=3,SM=0,M1X,P,(" << pomjerajXplazma + brojacXbroj[i] << ", " << pomjerajYplazma +
brojacYbroj[i] << ", " << pomjerajZplazma + 100 << ", 0, 0, 180),R=20.0,H=14,MS,CONF=00" << a << "0" << endl;
//spustimo hvataljku, tacka 2 u objasnjenju
izlaz << "MOVEX A=6,AC=3,SM=0,M1X,P,(" << pomjerajXplazma + brojacXbroj[i] << ", " << pomjerajYplazma +
brojacYbroj[i] << ", " << pomjerajZplazma << ", " << -r*180/3.14 << ", 0, 180),R=10.0,H=14,MS,CONF=00" << a << "0" << endl;
//ukljucimo magnet (izlaz broj 5)
izlaz << "SET O5" <<endl;
//pauziranje
izlaz << "DELAY 0.5" <<endl;
//podizemo komad,tacka 3 u objasnjenju
izlaz << "MOVEX A=6,AC=3,SM=0,M1X,P,("<< pomjerajXplazma + brojacXbroj[i] << ", " << pomjerajYplazma +
brojacYbroj[i] << ", " << pomjerajZplazma +100<< ", " << -r*180/3.14 << ", 0, 180),R=20.0,H=14,MS,CONF=00" << a << "0" <<
endl;
//PALETA
//nosimo komad do palete, tacka 4 u objasnjenju

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izlaz << "MOVEX A=6,AC=3,SM=0,M1X,P,("<< pomjerajXpaleta + (sirina/2) / cos(r)+ redPaleta * sirina /cos(r) << ", " <<
pomjerajYpaleta - (duzina/2) / cos(r) - kolonaPaleta * duzina / cos (r)<< ", " << pomjerajZpaleta + promjenaZpaleta + 100 << ", 0,
0, 180),R=20.0,H=14,MS,CONF=00" << b << "0" << endl;
//spustamo hvataljku, tacka 5 u objasnjenju
izlaz << "MOVEX A=6,AC=3,SM=0,M1X,P,("<< pomjerajXpaleta + (sirina/2) / cos(r) + redPaleta * sirina /cos(r) << ", " <<
pomjerajYpaleta - (duzina/2) / cos(r) - kolonaPaleta * duzina / cos(r) << ", " << pomjerajZpaleta + promjenaZpaleta << ", 0, 0,
180),R=10.0,H=14,MS,CONF=00" << b << "0" << endl;
//gasimo magnet (izlaz broj 5)
izlaz << "RESET O5" <<endl;
//pauziranje
izlaz << "DELAY 0.5" <<endl;
//dizemo hvataljku, tacka 6 u objasnjenju
izlaz << "MOVEX A=6,AC=3,SM=0,M1X,P,("<< pomjerajXpaleta + (sirina/2) / cos(r) + redPaleta * sirina/ cos(r) << ", " <<
pomjerajYpaleta - (duzina/2) / cos(r) - kolonaPaleta * duzina / cos(r) << ", " << pomjerajZpaleta + promjenaZpaleta + 100 <<", 0,
0, 180),R=20.0,H=14,MS,CONF=00" << b << "0" << endl;
//racunanje trenutnog broja redova i kolona
if(redPaleta==brojRedovaPaleta-1)
{
if(kolonaPaleta==brojKolonaPaleta-1)
{
promjenaZpaleta += 3; //vrijednost debljine komada za koju se koriguje z osa nakon
svakog novog sloja slozenih komada
}
kolonaPaleta = (kolonaPaleta + 1) % brojKolonaPaleta;
}
redPaleta = (redPaleta + 1) % brojRedovaPaleta;
//ispisuje END na kraju da bi se zavrsio program
if(i==n-4)
{
izlaz << "END" << endl;
}
}
system("PAUSE");
return 0;

NACHI 70,
5.16. CNC
CAM . CNC
, , .

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5.16 NACHI 70

5.17
( ) NACHI 70

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5.18 (
) ( ) NACHI 70

5.19 (
) ( ) NACHI 70

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6.

,
. ,
.

.
, ,
,

.
CNC
, .
,
,
.
CAD
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CAM . CAM- G CNC .
CAM-
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CNC
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CNC
,
5.

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:
[1] www.wikipedia.rs
[2] Flexible Manufacturing System (FMS) IE447 Spring 2011
[3] , ,
, 2002.
[4] Hypertherm, Plasma arc cutting systems Operator Manual 806650
[5] http://www.geckodrive.com/
[6] , , , , 2001
[7] Gareth J. Monkman, Stefan Hesse, Ralf Steinmann, Henrik Schunk, Robot Gripper
[8] www.schmalz.com
[9] NACHI, FD CONTROLLER INSTRUCTION MANUAL BASIC OPERATIONS MANUAL, 6th edition
[10] NACHI, FD CONTROLLER INSTRUCTION MANUAL Palletize function, 4th edition
[11] NACHI, FD CONTROLLER INSTRUCTION MANUAL COMMAND REFERENCE, 1st edition
[12] , , 2005
[13]
FM38 , , , 2012.
[14] SheetCAM, SetupandOperation Manual v3.1.17
[15] , , ,
2010
[16] Robot Palletizing Simulation Using Heuristic Pattern Generation and Trajectory
Optimization SungJin Lim, SeungNam Yu, MaingKyu Kang and ChangSoo Han, 2006
[17] TASK PROGRAMMING OF REDUNDANT INDUSTRIAL ROBOT, MASTER
THESIS, Audun Ronning Sanderud, 2012
[18] , . , 2010.

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