Entry / exit
These properties apply to both entry and exit.
Enter / exit at midpoint
On a closed path, this moves the entry / exit point to the midpoint of the first segment of the toolpath.
Closed loop overlap
On a closed path, this extends the start and end of the path an equal distance to cause an overlap. Only positive values are permitted.
Use entry parameters for exit
The exit path will be generated based on entry parameters.
Entry and exit parameters
These parameters can be applied to entry or exit paths.
Type
Defines entry or exit trajectory.
Perpendicular line
Entry or exit will be a line perpendicular to the base toolpath at the intersection point of the entry / exit and toolpath.
Tangent line
Entry or exit will be a line tangent to the base toolpath at the intersection point of the entry / exit and toolpath. This is useful for entry or exit on a convex curved toolpath or where the entry or exit should be aligned with the toolpath.
Arc
Entry or exit will be an arc motion, tangent to the base toolpath at the intersection point of the entry / exit and toolpath. Use Arc radius and Arc sweep angle to control size of the arc.
Line and arc
Arc entry or exit with linear extension added.
Side
Entry and exit motions can be placed on the right or left side of a path. You can use this setting to correct situations where entry or exit motions are placed on the wrong side of a path.
Height / ramp
Create an incline on an entry or exit motion. Ramp height is the offset distance from the original start point of the entry or exit, along the approach vector.
Ramp height can also be used with arc entry or exit paths.
This option is not recommended for plasma cutting.
Additional angle
Only available for linear entry / exit types (Perpendicular or Tangent). This adjusts the entry or exit path by a specified angle.
Arc radius
For arc style entry or exit paths, this is the radius of the arc. Use this to control the size of the entry or exit.
Arc sweep angle
For arc entry or exit paths, this is the distance to sweep the arc, from the intersecting point on the toolpath.
Line length
Used with linear entry or exit, defines length in mm of entry or exit motion. Negative values are not permitted.
Extend / shorten path
A positive value will extend the base toolpath by adding a line tangent to the path, at the intersection of the entry / exit. The effect would be to move the entry or exit past the intersection point, creating an overlap.
A negative value will move the entry / exit away from the intersection point, leaving undertravel or a gap in the base toolpath.
Note that on curved toolpaths, the extension follows a tangent line, it does not follow contour of the toolpath.
Normalize direction
This option is available for plasma cutting only.
When enabled, the tool axis control vector of approach will be perpendicular to the healed surface geometry, at the start of the entry. This will ensure that the pierce occurs with the plasma torch perpendicular to the workpiece. After piercing, the tool axis control vector gradually transitions to the cut path orientation, as defined in Fanning distance.
When disabled, the vector of approach will be parallel to the cut path vector.
Note that using Normalize direction requires that the Projection option (on the Path Parameters page for plasma cutting) is set to Automatic or one of the other options that will create “healed” CAD geometry in Robotmaster.
Fanning distance
This option is available for plasma cutting only.
When the Normalize direction option is enabled, Fanning distance controls the length of the transition from the initial pierce tool axis control vector orientation until the entry or exit vector is parallel to the cut path vector.
Set this to Automatic to transition gradually along the entire length of the entry or exit.