MULTIGOTO - Multi-coordinate movement

Command caption

How the command appears in the CLData command list:

MULTIGOTO COUNT 2, MACHINE, X 34.725, Y 32, GEOM X 34.725, Y 32, Z 194, NX 0, NY 0, NZ 1, NW 0, MSF 0, Time 0.003

MULTIGOTO is a universal technology command that is used to pass machine coordinate movement. MULTIGOTO command is used to pass a variable number of coordinates (also called "axes") to postprocessor. These coordinates can be linear movement of tool or table, table or tool rotation or movement of other machine coordinates. Also MULTIGOTO is used to pass miscellaneous technology commands specific for a given machine that can not be passed through more specialized commands. MULTIGOTO command can be used to control common axes like X, Y, Z linear movement, or A, B, C rotatable axes or to control "axes" like chuck jaws, spindle brake, lunet movement and so on. The list of the machine coordinates is defined by the kinematic scheme.

Access from sppx

Handler: program MultiGOTO

The cld array is read by index or by name - in sppx by the typed short name (e.g. cld.X), in .NET by the same name as a string key (e.g. cld["X"]).

Parameter	CLD array	CLD name	Description
X Y Z	CLD[1] CLD[2] CLD[3]	CLD.X CLD.Y CLD.Z	Tooltip spatial coordinates, relative to the active workpiece CS
NX NY NZ NW	CLD[4] CLD[5] CLD[6] CLD[7]	CLD.NX CLD.NY CLD.NZ CLD.NW	Tool frame orientation, relative to the active workpiece CS. The way of orientation definition depend on setting inside Machine schema. It can be Euler angles in different conventions, Tool normal vector, quaternion or rotated vector.
MSF	CLD[8]	CLD.MSF	Machine state flags (flips). Actual for the robots and machines that can have multiple configurations of physical axes for same spatial position. See description in the next table.
Time	CLD[9]	CLD.Time	The time of movement.
AxesCount	CLD[10]	CLD.AxesCount	Number of physical machine coordinates affected in this command.
r1	CLD[11]		Index of axis named Axis1Pos in the coordinates list.
Val1	CLD[12]		Value of the machine coordinate Axis1Pos.
r2	CLD[13]		Index of axis named Axis2Pos in the coordinates list.
Val2	CLD[14]		Value of the machine coordinate Axis2Pos.
…	…		…
rN	CLD[2*N+9]		Index of axis named AxisNPos in the coordinates list.
ValN	CLD[2*N+10]		Value of the machine coordinate AxisNPos.

Access by parameter name (helpers)

Parameters available through the cmd operator (the same in sppx and .NET):

TCLDMultiGoto: ComplexType	Multi coordinate movement command
Axes: Array, Key="AxisID"	cmd.Ptr["Axes"] - An array of structures such as Axis. One command may include movement along several axes, the position of each is stored in this array.
Axis: ComplexType	cmd.Ptr["Axes"].Item[Index] or cmd.Ptr["Axes(AxisName)"] - Separate element of the Axes array. Contains information about moving on one machine axis. Access to the array elements can either by index or by key field. Here AxisName - the key field value, which must match the AxisID field value.
AxisID: String	cmd.Str["Axes(AxisName).AxisID"] - The identifier of the machine axis, for which the specified new position. Determined by the machine schema.
Value: Double	cmd.Flt["Axes(AxisName).Value"] - The new position of the machine axis, in which it moves.
Pos5D: ComplexType	cmd.Ptr["Pos5D"] - structure containing the coordinates that define the final position of the tool in space. Determines not only the position of the tuning point of the tool (the fields X, Y and Z - cartesian coordinates), but also the orientation of the tool relative to the current coordinate system (fields NX, NY, NZ and NW). Depending on the configuration of the system (defined in the scheme of machine), the tool orientation can be specified by: Normal vector n = (NX, NY, NZ), Spatial angles of rotation around the coordinate axes - the Euler angles (notation of Euler angles, ie the sequence of rotations is also specified in the settings) A = NX, B = NY, C = NZ. Quaternion q = (NX, NY, NZ, NW).
X: Double	cmd.Flt["Pos5D.X"] - X cartesian coordinate of the tool tip position.
Y: Double	cmd.Flt["Pos5D.Y"] - Y cartesian coordinate of the tool tip position.
Z: Double	cmd.Flt["Pos5D.Z"] - Z cartesian coordinate of the tool tip position.
NX: Double	cmd.Flt["Pos5D.NX"] - depending on the system configuration may be the NX component of the tool normal vector, the rotation angle around one of the coordinate axis, or the coefficient of the quaternion.
NY: Double	cmd.Flt["Pos5D.NY"] - depending on the system configuration may be the NY component of the tool normal vector, the rotation angle around one of the coordinate axis, or the coefficient of the quaternion.
NZ: Double	cmd.Flt["Pos5D.NZ"] - depending on the system configuration may be the NZ component of the tool normal vector, the rotation angle around one of the coordinate axis, or the coefficient of the quaternion.
NW: Double	cmd.Flt["Pos5D.NW"] - if you have chosen a method of orientation tool in the form of a quaternion is a fourth coefficient of quaternion.
MachineStateFlags: Integer	cmd.Ptr["MachineStateFlags"].Bit[i], i=(0..31). Integer number which is a bit field of 32 bits from 0 to 31. If there are several variants for the location of the machine axes, providing a specified position of the tool in space, every bit of this field determines the selection of one of the possible solutions. For example, a five-axis machine with A and C axes for most of the positions of the tool has two possible solutions - with a positive A-axis and with negative value of the A axis. Zero bit of this field will choose one of these solutions. For a standard six-axis articulated robot many of the tool positions in space can be provided with different combinations of three of its key joints positions (the base, elbow and wrist joints) giving a total of 8 possible solutions. In this case, the zero bit in this field will determine the position of the base, the first bit - the position of the elbow, and the third bit will be set the position of the robot's wrist. Thus, the meaning of each of this bits is determined entirely by the used machine schema. When using machines that do not need to use these flags, it is possible to disable the output of this parameter to CLData in the machine scheme.
Time: Double	The time of the movement in minutes.

The list of coordinates passed through CLData of MULTIGOTO command is defined by the CAM system machine scheme.

Use the GMA array to process the MULTIGOTO command. The properties of the GMA array are automatically assigned precalculated values of coordinate movement parameters. The command parameters are also available through the cmd operator.

A simple example of MULTIGOTO command handler with cmd operator using below.

program MultiGoto
  if cmd.Ptr["Axes(AxisXPos)"]<>0 then begin
    X = cmd.Flt["Axes(AxisXPos).Value"]
  end
  if cmd.Ptr["Axes(AxisYPos)"]<>0 then begin
    Y = cmd.Flt["Axes(AxisYPos).Value"]
  end
  if cmd.Ptr["Axes(AxisZPos)"]<>0 then begin
    Z = cmd.Flt["Axes(AxisZPos).Value"]
  end
  if cmd.Ptr["Axes(AxisCPos)"]<>0 then begin
    C = cmd.Flt["Axes(AxisCPos).Value"]
  end
  OutBlock
end

Access from .NET

Handlers (the specific handler plus the movement-group brackets):

public override void OnMultiGoto(ICLDMultiGotoCommand cmd, CLDArray cld)
public override void OnBeforeMovement(ICLDMotionCommand cmd, CLDArray cld)
public override void OnAfterMovement(ICLDMotionCommand cmd, CLDArray cld)

Inheritance: ICLDMultiGotoCommand : ICLDMultiMotionCommand : ICLDMotionCommand : ICLDCommand (ICLDMultiGotoCommand adds no members of its own; everything below is inherited from ICLDMultiMotionCommand / ICLDMotionCommand).

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. (from `ICLDMotionCommand`)
`cmd.EN`	`TInpRotation`	End normal or orientation of the movement (normal vector, Euler angles, quaternion, ... per the machine scheme).
`cmd.MSFlags`	`BitArray`	Machine state flags / robot flips that (together with the cartesian coordinates) define the mechanism state in case of redundancy; the meaning of each bit depends on the equipment.
`cmd.Time`	double	Duration of the movement in minutes.
`cmd.AxesCount`	int	The count of axes contained in the `Axis[]` list.
`cmd.Axis`	`ICLDMultiMotionAxesIndexer`	The list of the movement's axes `[0..AxesCount-1]`; indexable by position, by textual `ID`, or by name (`Axis.X/.Y/.Z/.A/.B/.C/.C1/.C2/.A1..A6/.E1..E3`, `null` if absent).
`cmd.Axes`	`IEnumerable`	Axes enumerator, for `foreach`.
`cmd.HasAxis(string ID)`	bool	True if the movement contains an axis with the specified textual ID.

An axis element (CLDMultiMotionAxis) has IntID (numeric machine-axis id), ID (textual machine-axis id as defined in the machine schema), Value (final axis value; units - mm/inch/deg/pulse - per the axis definition), and IsX/IsY/IsZ/IsA/... tests.

Example (from the Fanuc 30i mill postprocessor):

public override void OnMultiGoto(ICLDMultiGotoCommand cmd, CLDArray cld)
{
    foreach (CLDMultiMotionAxis ax in cmd.Axes)
    {
        if (ax.IsX) nc.X.v = ax.Value;
        else if (ax.IsY) nc.Y.v = ax.Value;
        else if (ax.IsZ) nc.Z.v = ax.Value;
        else if (ax.IsA) nc.A.v = ax.Value;
        else if (ax.IsB) nc.B.v = ax.Value;
        else if (ax.IsC) nc.C.v = ax.Value;
    }
    nc.Block.Out();
}

MULTIGOTO - Multi-coordinate movement

Command caption

Access from sppx

Access by parameter name (helpers)

Access from .NET

See also