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Well again, so this simpler toolpath is the second operation in the list here just follows a single curve around this fairly complex form shape okay. Now if we open up the axis map tool now we can see that I've already built a graph in there so let's discuss what each of these elements mean. So to start with the graph scale along the bottom of the map describes the distance traveled throughout the toolpath. It can also be thought of as a point of time within the toolpath as well if that's easier for you.

The left-hand scale describes the angle of deflection from the zero point of the particular axis in question. So this would be the A6 axis. We also have control of axis E1 which is not this particular instance although if you're dealing with turntable style controls it's very useful for that. Furthermore we also have access to the lean angle and the lead angle and we'll very quickly go over what these mean.

So let's build the map now and we'll build a graph here and we can see that it's drawn a line to the 30 degree point so let's bring that down to the zero degree mark. And as we use this scale here to pan across the length of the toolpath we can see that it's pretty much pointed vertically down. So let's have a bit of a play with this. Let's introduce a bit of lean.

And as you can see the way the lean functions in this is that it is basically the amount of angular lean you've got going across the direction of the toolpath. Whereas lead is the amount of angular lean that you have going along the direction of the toolpath instead. So you lean across the toolpath and you lead in or out of the toolpath if that makes sense or toward or against even. So let's take a look at the lead angle as well here and we can build the map there and build the graph again.

Again it's largely along the zero point here so that's not a massive problem. And what we can do is if we drop this back you can see now how the robot spindle is leaning back towards the origin point of the toolpath versus if we bring this up now you can see how it's. Leaning into the toolpath instead. So leaning back and as we pan across leaning forward.

Okay so that's what the lead angle is versus the lead angle. Anyway we've just presented a very very simplified version of what goes on in the axis mapping tools here. We've obviously not covered any of the collision mapping content yet so let's take a look at that whilst we're at it. So to check this we can turn on collisions and we can check the parts or we can check the workpiece as well.

So if we build the map now we should be able to see that oh no there is a collision that's formed right there. This is obviously not ideal. So if we take a closer look at that and we can see that we've actually caused that collision by playing around with the lean and lead angles specifically the lean angle in that case. So what we can do now is we can update the toolpath accordingly, go back into the lean angle, rebuild the map with collision detection turned on.

And we can see where we start to intersect the part here. So this section here this blue region indicates there's a collision between the part and the workpiece and the robot itself. So if we now edit this tool that this graph down here to lean it away and update the toolpath we should now be able to play the whole thing through without seeing any kind of interaction. So again we've got a quick and easy simulation method here we just scroll it along like this.

Okay and we've got that same level of control in even more intricate toolpaths than this. Although I will say that the more complicated the toolpath the longer it will take to calculate. This is just a very very short one and a half meter long toolpath. If we're dealing with a very large sculpted piece using something like a 5d by meshes or a 4d finishing toolpath it's going to take significantly longer because there's so much more distance for it to traverse.

Okay however with programs like that this ability to iterate through and make changes drastically improves your chances of being able to generate a working toolpath. In the next video we're going to take a look at a more complicated toolpath and the amount of work that's required to be able to get it to traverse successfully without causing any impacts or problems. See you then.