GOTO - Linear transition

Command caption

How the command appears in the CLData command list:

GOTO.abs X x, Y y, Z z

CAM system passes linear transition data through ABSMOV (GOTO.abs) command. The parameters of the command are the new absolute coordinates along the X, Y and Z axes.

Access from sppx

Handler: program AbsMov

Parameter CLD array CLD name Description
x
y
z		 CLD[1]
CLD[2]
CLD[3]		 CLD.X
CLD.Y
CLD.Z		 New tool coordinates (absolute)

Example (from the Fanuc (30i)_Mill postprocessor):

program AbsMov  
  if (INTERP_ > 1) and (INTERP_ <> 33) then
    INTERP_ = 1    ! G1
  X = cld[1]                         ! X,Y,Z in absolutes
  Y = cld[2]
  if IsRotaryInterpolation = 2 then begin
    Y = -Y/CylR/Pi*180
  end
  Z = cld[3]
  if (Z<>Z@) and (NeedKorDl<>0) then begin
    KorDl = NeedKorDl; KorDl@ = MaxReal
    H@ = MaxReal
    NeedKorDl = 0
  end
  if (CycleOn=0) and ((X<>X@) or (Y<>Y@) or (Z<>Z@)) then begin
    if KorEcv<>KorEcv@ then begin
      if Interp_<>Interp_@ then begin
        X@ = X
        Y@ = Y
        Z@ = Z
        KorEcv@ = KorEcv
        D@ = D
        OutBlock
        KorEcv@ = MaxReal
        D@ = MaxReal
      end
      X@ = MaxReal !XT_
      Y@ = MaxReal !YT_
      Z@ = MaxReal !ZT_
    end
    if IsMultiaxisInterpolation = 1 then begin
      X@ = MaxReal;
      Y@ = MaxReal;
      Z@ = MaxReal;
    end;
    OutBlock
  end
  XT_ = X;  YT_ = Y;  ZT_ = Z        ! save current coordinates
end

Access from .NET

Handlers:

public override void OnBeforeMovement(ICLDMotionCommand cmd, CLDArray cld)   // group handler - before any motion command
public override void OnGoto(ICLDGotoCommand cmd, CLDArray cld)
public override void OnAfterMovement(ICLDMotionCommand cmd, CLDArray cld)   // group handler - after any motion command

Inheritance: ICLDGotoCommand : ICLDMotionCommand : ICLDCommand.

Read the parameters from the strongly-typed cmd object (recommended); the raw cld[i] array (same indices as in sppx) and the named cmd["..."] helpers are available too. The table lists the command's members, including those inherited from its base interfaces; the common ICLDCommand members (navigation, CLD, CLDFile, TechOperation, ...) are described in the CLData access model.

Member Type Description
cmd.EP TInp3DPoint End point (X, Y, Z) of the movement

Example - OnGoto (from the Fanuc (30i)_Mill_DN postprocessor):

public override void OnGoto(ICLDGotoCommand cmd, CLDArray cld)
{
    if (nc.GInterp > 1)
        nc.GInterp.v = 1;
    nc.X.v = cmd.EP.X;
    nc.Y.v = cmd.EP.Y;
    nc.Z.v = cmd.EP.Z;

    if (!cycleIsOn) {
        if (nc.Z.Changed && nc.GLCompens.ValuesDiffer) {
            nc.Block.Hide(nc.X, nc.Y);
            nc.Block.Show(nc.GLCompens, nc.HLCompens, nc.Z);
            nc.Block.Out();
            nc.Block.UpdateState(nc.X, nc.Y);
        }            
        // Uncomment if you want mandatory XYZABC in TCPM mode
        // if (nc.GLCompens == 43.4) {
        //     nc.Block.Show(nc.X, nc.Y, nc.Z);
        //     if (CLDProject.Machine.HasAAxis)
        //         nc.A.Show();
        //     if (CLDProject.Machine.HasBAxis)
        //         nc.B.Show();
        //     if (CLDProject.Machine.HasCAxis)
        //         nc.C.Show();
        // } 
        if(nc.X.Changed || nc.Y.Changed || nc.Z.Changed )               
            nc.Block.Out();
    }
    nc.LastP = cmd.EP;
}

See also