Parameter Table

System State

Coordinate System Offsets

Tooling Offsets

See:G10: Set work and tool offsets for reference on setting tool offsets

System Motion Parameters

			Units	Default Value	Description
Axes	XAxis	MaxSpeed	unit/s	60000	Upper speed limit for the axis. Setting this enables per-axis limiting of the machine's speed. Lookahead processing takes this into consideration when planning the machine's feed rate / speed, and can be used to enforce a maximum speed for the axis.
	XAxis	MaxAcceleration	units/s²	60000	Tangential/linear acceleration limit for the axis. Lookahead processing takes this into consideration when planning the machine's acceleration and feed rate / speed for, for straight line acceleration.
	YAxis				See above
	ZAxis				See above
	E1Axis				See above
	TangentAxis				See above

Rapid	MaxRapid		unit/min	30000	Upper velocity limit for Rapid motion. Lookahead processing takes this into consideration when planning the machine's speed.
	Acceleration		units/s²	1500	Linear acceleration limit for Rapid motion.
	Deceleration		units/s²	1500	Linear deceleration limit for Rapid motion.

Feed	MaxFeedrate		unit/min	30000	Upper velocity limit for Non-Rapid motion. Lookahead processing takes this into consideration when planning the machine's speed.
	CornerAcceleration		units/s²	1000	Centripetal (corner) acceleration limit.
	Acceleration		units/s²	1500	Linear acceleration limit for Non-Rapid motion.
	Deceleration		units/s²	1500	Linear adeceleration limit for Non-Rapid motion.
	PathTolerance		units	0.05	Distance of the apex of the inserted corner blending parabola to the actual corner.
	Colinearity		degrees	90	Maximum allowable angle difference between consecutive motion segments for them to be blended together without coming to a stop. This is used to determine when the machine should come to a stop at corners versus blending the motion through the corner. For example: - 0° = no blending, machine stops at every corner - 15° = gentle blending, machine blends through shallow angle corners - 90° = blend through corners up to 90°, with corners sharper than 90° causing a stop - 180° = full blending, machine never stops for corners
	ColinearityZ		degrees	89	Maximum corner angle (degrees) allowed for Z-involved moves when the move is inside the Z cone (see VerticalZtolerance). - Smaller values insert more stops. - Larger values allow more blending. For example: - 0 = stop for any Z-involved move - 30° = Allow shallow Z moves to blend with XY, e.g., for Z ramping moves to start a cut, or for helical moves for boring holes - 89° = Allows most Z moves to blend with XY, while still stopping for vertical<-->horizontal transitions - 179 = Allow nearly vertical Z moves to blend, only stopping for pure horizontal XY moves - 180° = no Z colinearity checks (no Z-based stops), but still dependent on primary Colinearity setting and others
	VerticalZtolerance		degrees	1	Half-angle of the Z-axis cone (degrees). If a move's direction is within this cone around Z, it is treated as Z-vertical and evaluated by ColinearityZ. For example: - 46° includes a 45° Z/XY move in the cone - 44° excludes a 45° Z/XY move from the cone
	VelocityStabilisationFactor		ratio [0-1]	0.01	Velocity smoothing factor. This parameter improves the stability and smoothness of the XYZ path by reducing sudden changes in velocity. Generally, this parameter should not require changing.

LA (Lookahead)	MaxSegmentTimeSeconds		s	0.004	Maximum time, in seconds, for a pre-interpolated sub-segment that is sent to the controller, at 100% feedrate override. Values between 0.004 and 0.1 seconds are typical. Lookahead processing will split motion segments into smaller segments if they exceed this time limit. This is primarily used to pre-split longer segments into smaller ones, allowing for a faster response to constant acceleration feedrate override changes.
	MinSegmentLength		units	0.000001	Minimum allowed segment length. If pre-interpolated segment length is below this threshold, it will be merged with adjacent segments to create a longer segment. In general, this should not need to be changed from default values.
	ArcSplitLength		units	1	Length of the discrete segments which arcs are pre-split into smaller segments after lookahead planning. This is primarily to improve response to feed rate override changes. This parameters works together with the Arc Split Tolerance parameter to ensure sufficient resolution for the arc segments.
	ArcSplitTolerance		units	0.1	Tolerance from the true arc and the discrete segments, sometimes referred to as the Sagitta. Used to split arc segments into finer segments to ensure arc accuracy and tolerance. This can then result and allow for segments smaller than the Arc SplitLength parameter, to ensure accuracy.

MachineParameters	MachineNativeUnits		UnitsMode	Millimeters	The native units of the machine, which can be either millimeters or inches. Should match the PLC axis settings and PLC modas state initialization settings
	InitGCodeFile		string	"Init.gcode"	A path to the G-Code file to run automaticallly before Cycle Start, and before running every G-Code file.
	LogLevel		YLoggingLevels	INFO	This can be set to control the verbosity of logs, with options such as DEBUG, INFO, WARNING, and ERROR.

RadiusComp (Radius Compensation)	RoundTheArc		bool	0	If enabled, a blending arc will be inserted between the offset segments, otherwise a linear segment will be inserted.
	StartupOffset		bool	0	Additional radius compensation will be performed at the start of the segment to ensure the machine starts the cutter radius compensation offset before getting to the target position

TangentAxis	Active		bool	0	Enables or disables the Tangent Axis control
	MaxAngle		degrees	75	Colinearity check between segments: If MaxAngle is exeeded, knife will retract, reposition and lower If below MaxAngle - Tangent motion will be blended between the segments
	RaisedZPosition		units	0	Z position when knife is out of material
	CutZPosition		units	0	Z position when knife is cutting
	PlungeZFeedrate		units/min	0	Feedrate used for the Z axis motion
	Colinearity		degrees	1	Minimum tangent axis rotation per segment before enforcing tangent axis motion timing checks in lookahead. this primarily helps blend the tangent axis motion into the main path motion when encountering shallow angles. Generally, a value between 1° and 10° is recommended.
	VelocityStabilisationFactor		ratio[0-1]	0.25	Velocity smoothing factor when Tangent Axis is enabled This parameter improves the stability and smoothness of the XYZ path when the tangent axis motion is enabled by reducing sudden changes in velocity. Generally, this parameter should not require changing.


PLC Parameters

ColdStart POU					End user should set these parameters to match the machine's base unit reference that is configured for the Motion Axes Group in iCube Engineer. Other defaults should be set in the Initialize POU's called by a Warm and Cold Start
	NcStateData.ModalState.UnitsState			UnitsMode#Millimeters;	The native units of the machine, which can be either millimeters or inches. Should match the PLC axis settings
	NcStateData.ModalState.PlaneState			PlaneMode#XY;	Initial Machine plane setting (XY, YZ or ZX)
	NcStateData.ModalState.DistanceState			DistanceMode#Absolute;	Initial motion mode (absolute or relative)
	NcStateData.ModalState.CoordinateSystemState			CoordinateSystem#WCS1;	Initial Coordinate System

Initialize POU					Initial PLC configuration values. These values will be reset every time the controller starts.
	HMI_Command.JogVelocity		units	100	Manual axis jog velocity
	HMI_Command.JogAcceleration		units	500	Manual Axis jog acceleration
	AxesMap[1..5]			AxesMap[1] := 1; // Virtual X -> Real1 AxesMap[2] := 2; // Virtual Y -> Real2 AxesMap[3] := 3; // Virtual Z -> Real3 AxesMap[4] := 4; // Virtual Aux1 -> Real4 AxesMap[5] := 5; // Virtual Tangent	Aligns virtual and real group axes. Virtual group should not be modified by the end user, while the Real group has to be modified to match the actual hardware configuration. This array allows enable/disable of present axis and correct control of real axes group.