Table of Contents

Class ActMcPolarSpiralContour

Namespace
Hi.Numerical.Acts
Assembly
HiMech.dll

Circular (arc/helix) contour on the polar hypothetical plane while Polar Coordinate Interpolation (Fanuc G12.1) is active.

The arc geometry lives entirely in central polar Rxcz coordinates (X = radius-direction linear axis mm, Y = hypothetical rotary-substitute axis mm, Z = real Z mm, origin on the rotary center) — the same spiral math as ActMcXyzSpiralContour. Each sampled point is then converted to machine coordinates the way ActMcPolarLinearContour does: radius drives machine X, the atan2 angle drives the machine C axis with the branch chained from the previous step (GetNoInterpolationOrdinaryProgramXcz_rad(Vec3d, double, Vec3d)), machine Y/A/B stay frozen at the previous position, and Z carries the coordinate/tool-height offset.

The chaining state is local to each enumeration, so the act can be re-enumerated safely and arcs crossing the ±180° branch (or spanning multiple turns via AdditionalCircleNum) stay continuous — unlike the HardNc per-point unresolved atan2, whose machine C jumps by one cycle at the branch cut (same physical pose). Known divergence: per-step machine X is the raw polar radius and machine Y stays frozen — coordinate-offset X/Y components are NOT applied (only Z carries an offset), consistent with ActMcPolarLinearContour and the turn-mill assumption that machine X ≡ radius. HardNc is internally inconsistent here: its polar arc steps run the full transform chain (G5x X/Y included) while its polar linear steps use the raw radius like this act. 
public class ActMcPolarSpiralContour : IActDuration, IActMcXyzabcContour, IAct
Inheritance
ActMcPolarSpiralContour
Implements
Inherited Members
Extension Methods

Constructors

ActMcPolarSpiralContour(DVec3d, Vec3d, Vec3d, Vec3d, Vec3d, int, TimeSpan, double)

Initializes a new instance of the ActMcPolarSpiralContour class.

public ActMcPolarSpiralContour(DVec3d preMcXyzabc_rad, Vec3d programPolarBegin, Vec3d programPolarEnd, Vec3d programPolarCenterOnBeginPlane, Vec3d centerNormal, int additionalCircleNum, TimeSpan duration, double zCoordinateOffset)

Parameters

preMcXyzabc_rad DVec3d

Previous machine XYZ-ABC coordinates in radians

programPolarBegin Vec3d

Arc begin in central polar Rxcz (mm)

programPolarEnd Vec3d

Arc end in central polar Rxcz (mm)

programPolarCenterOnBeginPlane Vec3d

Arc center on the begin plane, central polar Rxcz (mm)

centerNormal Vec3d

Plane normal with rotation sign

additionalCircleNum int

Number of additional full circles

duration TimeSpan

Duration of the contour movement

zCoordinateOffset double

Z-coordinate offset

Properties

ActDuration

Gets or sets the duration of the action.

public TimeSpan ActDuration { get; set; }

Property Value

TimeSpan

Remarks

The duration represents:

  • The time required to complete the action
  • Should be positive and finite
  • Zero duration indicates an instantaneous action
  • Used for scheduling and timing calculations

AdditionalCircleNum

Number of additional full circles (helix).

public int AdditionalCircleNum { get; set; }

Property Value

int

CenterNormal

Plane normal with rotation sign (XC pair → (0,0,±1)).

public Vec3d CenterNormal { get; set; }

Property Value

Vec3d

ProgramPolarBegin

Arc begin in central polar Rxcz coordinates (mm).

public Vec3d ProgramPolarBegin { get; set; }

Property Value

Vec3d

ProgramPolarCenterOnBeginPlane

Arc center on the begin plane, central polar Rxcz (mm).

public Vec3d ProgramPolarCenterOnBeginPlane { get; set; }

Property Value

Vec3d

ProgramPolarEnd

Arc end in central polar Rxcz coordinates (mm).

public Vec3d ProgramPolarEnd { get; set; }

Property Value

Vec3d

Methods

GetActMcXyzabcSteps(IMachiningMotionResolution, double, Action<object>)

Gets the machine XYZABC steps for this contour.

public IEnumerable<ActMcXyzabcStep> GetActMcXyzabcSteps(IMachiningMotionResolution ncResolution, double spindleBuckleToToolTipLength, Action<object> coordinateConversionFailedAction)

Parameters

ncResolution IMachiningMotionResolution

The machining motion resolution to use for step generation.

spindleBuckleToToolTipLength double

The length from spindle buckle to tool tip, used for computing step numbers.

coordinateConversionFailedAction Action<object>

Called when attacher NP to MC conversion fails; the argument is the failed DVec3d (attacher NP).

Returns

IEnumerable<ActMcXyzabcStep>

A collection of machine XYZABC steps.

ToString()

Returns a string that represents the current object.

public override string ToString()

Returns

string

A string that represents the current object.