As one can plainly see, this is a complicated process. Fanuc TCP Mode is designed for Nutating (Articulating) heads to simplify multi-axis programming by having the machine itself control the position of the tip of the tool during based on the specific tool gage length. Using the Q-Setter, with the B-Axis at 0.0 and touching off in the X-axis only, establishes that gage length. With TCP mode, the relationship between the tool center point (control point) and the workpiece stays constant, Doosan has further enhanced the TCP functionality of the MX-Series by also applying it to the C-Axis Rotary Axis.
This results in simplified programming and a more efficient toolpath motion kinematically by the CNC Machine Tool. The X,Y, Z values in the NC Code are the STATIC Cutter Tip Locations (X,Y,Z Points) in the CAM system, BEFORE the rotation of the C-Axis. The CAM system only needs to calculate the proper C-Axis Rotary Angle and B-Axis Tilt Angle. The Post-Processor should also convert X-Values to Diameter. Doosan TCP Mode only supports G00 (Rapid Traverse), G01 (Linear Interpolation) and G49 (Tool Length Compensation Cancel). It is engaged with a G700 Command followed by a D-Word containing the appropriate Tool Offset Number (G700 D__).
Doosan TCP Mode requires that any active Tool Offset is cancelled prior to engaging TCP Mode. Doosan TCP mode is cancelled by the use of G49 and G701 commands. Please refer to the Doosan MX-Series Programming Manual for detailed documentation of Doosan TCP Mode. (Sections 15-11, 17-6) - 54 -