GENERAL DOCUMENTATION

PROGRAMMING AID

ROBOMAC
DIGITAL CONTROL

BAZEILLES - LATOUR Plant

Rue Henri Dunant
08140 BAZEILLES - FRANCE
http://www.numalliance.com

Tel.: +33 (0)3 24 26 71 23

Fax: +33 (0)3 24 26 82 66
E-mail: latour@numalliance.com
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TABLE OF CONTENTS
TABLE OF CONTENTS......................................................................................................... 2
GENERAL PRESENTATION OF THE DIGITAL CONTROL AND CONTROL DESK
.................................................................................................................................................... 4
THE DESK............................................................................................................................. 5
THE TOUCH SCREEN ......................................................................................................... 6
STARTING UP AND STOPPING THE MACHINE ........................................................... 7
POWER UP / START-UP...................................................................................................... 8
RESETTING THE AXES ...................................................................................................... 8
STOPPING THE MACHINE / POWER-DOWN ................................................................. 9
THE OPERATING MODES................................................................................................. 10
“MANUAL” MODE ............................................................................................................ 11
LIST OF MOVEMENTS IN MANUAL MODE ................................................................ 12
“RESET” MODE ................................................................................................................. 13
“PRODUCTION” MODE.................................................................................................... 13
INTERFACE OF THE DIGITAL CONTROL................................................................... 15
THE CONTROL DESK....................................................................................................... 16
Information built into the desk ............................................................................................. 16
The start/stop modes............................................................................................................. 17
Manual mode and RESET.................................................................................................... 18
Controlling the axes in manual mode................................................................................... 18
THE ALPHANUMERICAL KEYBOARD......................................................................... 19
Using the number pad .......................................................................................................... 19
Using the keyboard............................................................................................................... 20
THE “Home” PAGE ............................................................................................................ 21
THE “Tools” PAGE ............................................................................................................. 22
The standard cutting tool page ............................................................................................. 23
The pushed bending tool page.............................................................................................. 25
The ZIGZAG tool page ........................................................................................................ 26
The cutting unit tool page..................................................................................................... 27
The functions of the tools pages........................................................................................... 28
THE “CAD” PAGE:............................................................................................................. 29
The XYZ design mode ......................................................................................................... 30
The LRA design mode ......................................................................................................... 30
3D representation of the piece.............................................................................................. 31
THE “Plan of procedure” PAGE.......................................................................................... 32
Description of the plan of procedure.................................................................................... 32
Description of the plan of procedure.................................................................................... 33

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Modifying the plan of procedure.......................................................................................... 33

THE “Simulation” PAGE..................................................................................................... 36
THE “Production” PAGE..................................................................................................... 37
“Detail” Tab ......................................................................................................................... 37
“Edit” Tab ............................................................................................................................ 37
“Edit” Tab ............................................................................................................................ 38
“Production” Tab.................................................................................................................. 39
THE “Settings” PAGE ......................................................................................................... 40
“Movements” Tab ................................................................................................................ 40
“In/Out” Tab......................................................................................................................... 41
“Defects” Tab ....................................................................................................................... 42
“Files” Tab ........................................................................................................................... 43
“Parameters” Tab ................................................................................................................. 44
LIST OF EXISTING COMMANDS .................................................................................... 45
DESCRIPTION OF A STANDARD COMMAND............................................................. 47
THE CAM MACRO COMMANDS.................................................................................... 48
CONTROLLING THE BASIC MOVEMENTS.................................................................. 50
THE MACRO COMMANDS.............................................................................................. 53
THE ROBOT COMMANDS ............................................................................................... 56
THE DECLARATION COMMANDS ................................................................................ 58
PROGRAMMING AID ......................................................................................................... 63
CREATE A PROGRAM...................................................................................................... 64
Preliminary remarks ............................................................................................................. 64
EXAMPLE 1: Simple bend.................................................................................................. 66
EXAMPLE 2: part with 2 bends of different radii............................................................... 67
EXAMPLE 3: part with 2 opposing bends of different radii ............................................... 68
EXAMPLE 4: part in 3D with 3 bends ................................................................................ 69
EXAMPLE 5: part with large radii - push bending ............................................................. 70
EXAMPLE 6: part with several large radii – push bending................................................. 71
EXAMPLE 7: complex part designed in LRA mode........................................................... 72
EXAMPLE 8: complex part designed in XYZ mode .......................................................... 73

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GENERAL PRESENTATION OF THE

DIGITAL CONTROL AND
CONTROL DESK

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THE DESK

TOUCH
SCREEN SWITCH
Programing zone
ON LIGHT
and management
of the Numerical HOUR
Command. COUNTER

START CYCLE POWER ON

(Green light) (White light)

POWER EMERGENCY
VALIDATION STOP
(Blue light)

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THE TOUCH SCREEN

Access to "Tool" definition Access to "Simulation" page

page
Access to "Production" mode

Access to "Settings" page

D
E
S
K

K
E
Y
B
O
A
R

Info bubble Screen copy

The user reaches the various pages or menus by touching the icons on the screen. All of the
functions, pages and menus are described in the chapter “DIGITAL CONTROL
INTERFACE”.

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STARTING UP AND STOPPING

THE MACHINE

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POWER UP / START-UP

Turn the general switch to 1 (the “ON” light comes on)

Wait for the Digital Control to start up, and the home page to be displayed.

The machine is always on emergency stop, when it is powered up. To remove it:
Ensure that the emergency stop button is released.
Press the “CYCLE START” button for 3 seconds.
The “START-UP” light on the desk lights.
The “CYCLE START” button and the RESET icon (on the screen) should flash.

RESET icon (homing)

When opening the machine up for maintenance, the

emergency stop must be on, the main switch turned off
and padlocked.
In the event of a problem during start-up, refer to the trouble-shooting section.

RESETTING THE AXES

The machine must be started up, with its doors closed.

Go to the home page screen.
Touch the RESET icon.
Confirm the programme: the red cross should change into a green tick.
Press the “Cycle Start” button for 3 seconds.

RESET
icon

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STOPPING THE MACHINE / POWER-DOWN

Go to the “Settings” window.

Configure Machine stop

Tab icon
Go to the “Parameters” tab.
Press on the “Machine stop” icon.
Validate by pressing the validation icon.
Wait until the Digital Control stops completely.
As soon as the POWER DOWN message appears on the screen, turn the general
switch to 0.

C DO NOT TURN THE GENERAL SWITCH OFF BEFORE THE DC HAS

POWERED DOWN COMPLETELY C
C IF POSSIBLE LEAVE THE DC POWERED UP C

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THE OPERATING MODES

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“MANUAL” MODE

The “manual mode” can be used for all movements. The movements are all accessible from
the “Settings” page B “Movements” tab. The head and cutting entrance/exit movements are
always present on the screen control desk (blue buttons on the screen).

To make movements in manual mode, it is necessary to keep pressing the “Power validation”
button all the time (blue button).

Example: Move the wire forward and cut it.

Choose the manual mode, using the icon on the graphics desk.
Select Feed from the “Settings” page B “Movements” tab.
Press the “Power validation” button (blue button).
Move the wire forward with the buttons, to bring the wire out, or to take it
back in.
Once the desired value has been attained, cut the wire by pressing .

Observation:
In manual mode, it is possible to give the dimensions using the interface, refer to the
following chapter: “The Settings page” “Movements Tab”.

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LIST OF MOVEMENTS IN MANUAL MODE

N°0 Feed
Conditions for wire to be fed:
feed door closed.
no obstacles preventing the wire from moving (bending pin…).
Cut done

N°1 Bending
Check that the bending heads do not hit the machine head during the manual
movement.

N°2 Orientation
Observation: the driving motor is fitted with a brake which enables the orientation arm
to be kept in après after the engine torque is stopped (As an option, it is possible to
prevent rotation of the unloading/take-up arm is not completely clear.)

N°3 Barrel
Observation: the driving motor is fitted with a brake which enables the Barrel to be
kept in après after the engine torque is stopped.

N°6 Cut
C Do not release the validation button before the cutting movement is complete (≈ 1s).

N°14 Decoiler
Observation: The rotational movement of the decoiler depends on the position of the
arm. The closer the arm is to the decoiler, the faster it is. This rule is also valid in the
Setting mode.
The function is monitored by two sensors: The maximum position safety sensor
triggers an EMERGENCY STOP (machine powers down) and the rear sensor stops
the rotation.

N°31 Head 1
(+): Removes head 1 (Do not release the button too early, to be in position)
(-): Causes the withdrawal of the 2 or 3 heads, which happens simultaneously.

N°32 Head 2
Same observation as N° 31

N°33 Head 3 (depending on the model)

Same observation as N° 31

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“RESET” MODE

C THE MACHINE MUST BE STARTED UP AND ITS DOORS CLOSED C

The reset cycle must be carried out each time the machine is powered up, and may be
necessary after certain defects. When a RESET is necessary, the plan of procedure light
flashes. To carry out a RESET, select the mode by touching the icon .
To start the cycle, it is important that the programme has been confirmed. To do this, press the
little red cross at the top right-hand side of the screen. It should change into a green tick.

The following cycle will then start:

- Cutting: A back-and-forth movement with position checks and sensor search.

- Orientation: Rotation until it moves in front of its sensor.
- Barrel Rotation until it meets its mechanical limits (1er sizing).
- Bending: Rotation in the + and - directions to have the position checked by the
sensor.
- Barrel: Back-and-forth to check its outer limits.

When the plan of procedure light turns off, the cycle is over.

“PRODUCTION” MODE

The “production mode” enables parts to be produced. The safety enclosure and the feed door
must be closed before one of the three buttons for this mode can be touched.

Opening the safety enclosure or the feed door triggers an

EMERGENCY STOP if the production mode has been
selected and the production or Reset is currently under way.

It is clearly forbidden, dangerous and entirely pointless to

close oneself into the protected zone, for whatever reason.
Recent regulations place the onus on the user to avoid
dangerous behaviour of this sort.

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There are 4 production modes:

P/P - Sequence single-step: Each line of the programme is

controlled by a separate press on the “Cycle Start” button (green
button).

P/P - Maintained single-step: The cycle is executed by

keeping a finger on the “CYCLE START” button (Pressed = on; Release =
stop).

C/C - Cycle/Cycle: Pressing the “Cycle Start button” (green

button) just once controls the complete execution of a part programme.

Auto: Pressing the “Cycle Start button” (green button) just once
controls the complete execution of a part programme and this will be
automatically repeated until the preselected number of parts is reached
("Production" Page).

Observation: It is possible to change mode during production.

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INTERFACE OF THE DIGITAL

CONTROL

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THE CONTROL DESK

This desk is always accessible and remains identical, irrespective of the mode you are in or
the page you are on.

Control desk

Locking of
touch screen

Display zone

Information built into the desk

This desk has 3 important types of information built into it:

The locking of the touch screen

It is possible to lock or unlock the screen by touching the padlock. By locking

it, you prevent any keyboarding or the triggering of any action. The screen
locks itself automatically after a while, if it has not been touched.

The touch screen is unlocked, all of the

controls are accessible.

The touch screen is locked, the padlock

follows our finger when we touch the screen.

The zone of defects present on the machine.

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It displays the defect(s) on the machine in real time. When you touch this zone,
you access the machine defect page directly, where you can see a defects
history.

The “number of parts produced / Number of parts to attain” counter.

It displays the state of progress of the active production in real time. When you
touch this zone, you access the production page directly, where you can modify
the preselection (number of parts to attain).

The start/stop modes

The desk enables you to choose the production mode you want and the highlighted button
indicates the status of the machine.

Stop buttons, powers the Button to select the Cycle/Cycle

machine down. production mode

Button to select the Single-step

production mode (by pressing once) or
Maintained single-step (pressing a
Button to select the automatic
second time), and the machine carries
production mode
out the programme for so long as the
user does not stop it by pressing this
icon again.

Button stopping the movements

of the machine.

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Manual mode and RESET

Each time the machine is started up again, it is essential to initialise each movement so that
they can be piloted correctly. This step, which is crucial, is carried out by pressing the
"machine origin" button, which puts the machine back into its initial position.
THE DOORS MUST BE CLOSED

Entering manual mode

Machine origin

The desk enables the user to enter into manual mode, and the way the movements are
controlled is explained below. This mode is important if you wish to work in learner's mode
or if you encounter a problem during production. It is also used to unblock the wire when this
is necessary. IT IS POSSIBLE TO WORK WITH THE DOORS OPEN.

Controlling the axes in manual mode

Manual mode controls are handled by the first line on the control desk.
+ movement of
- movement of axis
axis

2 Controlled axis

To change the movement being piloted, you simply need to press the desired movement on
the “Settings” page, “Movements” tab. Only the control of the cutting and the movement of
the heads are accessible from the desk:

Choice for piloting the exit (retraction) of one

of the heads. Press once for head 1, twice for
head 2.

Choice of cutting control

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THE ALPHANUMERICAL KEYBOARD

The default display of the keyboard is the number pad. Pressing the "ABC" button takes you
from the number pad mode to keyboard mode. Pressing the "123" button takes you from the
keyboard mode to number pad mode. These 2 items are used whenever you wish to modify
the fields of a page in order to define a part programme, pilot an axis in manual mode, record
a programme, etc.…

Keys on the alphabetic keyboard Keys on the number pad

Using the number pad

Description of the keys on the number pad:

Number entering keys

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Gives a value a + or - sign. By

pressing it once, you invert the sign
Deletes what is to the left of the
of a value, and then pressing again
cursor.
gives you the symbols *, % and _
in succession.

Successive pressing gives you , # $

Validation of input
( )

Escape or leave the keyboarding

Moves into the alphabetic mode
mode without entering the value.

Using the keyboard

Description of the functions of the keys on the keypad:

Alphabetical keyboard Alphabetical keyboard

Moves from the alphabetic

Adds a space
keyboard to the number pad

Deletes what is to the left of the Moves from the lower case to the
cursor. upper case alphabetic keyboard

Moves from the upper case to the

Validation of input
lower case alphabetic keyboard

Escape or leave the keyboarding

mode without entering the value.

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THE “Home” PAGE

This home page is displayed after each start-up. It shows all of the shortcuts that give you
access to the various menus:

: Opens an empty CAD page to create a new program

: Opens an existing program in a CAD page

: Opens a production list in chaining mode

: Opens the parameters page (Machine halt, operator type).

: Access to the machine's on-line help.

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THE “Tools” PAGE

This page enables the use to define the characteristics of the tools (IT IS ESSENTIAL TO
FILL OUT THIS SECTION) which will be used in the simulation or to generate the part
production plan of procedure (CAM).

Head 1

Cutting
unit

Properties
of the wire

(in mm)

Head 2 (in deg)

(in %)

To open and access the tool files for Head 1, Head 2 and the Cutting unit, touch the relevant
zones that represent the tools.

Menu of bending heads 1 and 2 Menu of the cutting magazine

To charge a file
tool safeguarded

Preregistered standard Cutting tool

tool preregistered
Tool for preregistered
cambering

Tool preregistered
« zig-zag"

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The standard cutting tool page

Selecting the “Standard” tool opens the following page:

Zone for tool

comments

Dimensional configuration of
tool being used

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1 : Boundaries of axis 1
Software boundaries that give the maximum angle the bending axis (Axis 1)
can have before it hits the arm.

2 : Angular offset
A corrective that accounts for the production variations which can cause a non-
parallelism between the axis of the wire and that of the plate.

Axis of the plate

Axis of the wire

//

A reset must be done before this manipulation

Case 1: Tool is right

If, when as in the above example you are in manual mode, the displayed
position of axis 1 on the “Settings” page “Movements” tab is 0°, then the
angle offset value is 0°.

Case 2: Tool has a production error of 10°

If, when as in the above example you are in manual mode, the displayed
position of axis 1 on the “Settings” page “Movements” tab is 10°, then the
angle offset value is 10°.

3 : Release
Value of the withdrawal or advance of the wire to help release the bending
head. (In general, the plan of procedure of values is 0 to 3)

4 : Spring back
A corrective to account for the spring back of the wire, which will be added to
the “Spring Back” on the “Tools” page.

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The pushed bending tool page

Selecting the “Pushed” tool opens the following page:

This tool is devoted to bending by pushing, and has the same characteristics as the previous
tool, except that it is possible to fill out the “Pushed bending values” as well, which enables
the tool to be calibrated. In order to do this, the following procedure should be respected:

In the “CAD” page:

In the “Plan of procedure” page: 2 - Value of the

calculated angle

3 - Using a calliper square, the external diameter of the part should be measured, and the
diameter of the wire should be extracted to that value and the fields Dc1 (Dc2 or Dc3)
filled out.
Dcx = Dextérieur − DFil

This calibration must be carried out for 3 bending angles in positive directions and 3
bending angles in negative directions (if only the direction “+” is entered, the direction
“- ” will have these values as default). Without this calibration phase, the use of the
bending command will not give the correct bend.

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The ZIGZAG tool page

Generally speaking, when there are two successive bends in opposite directions, the following
occur:
• retraction of bending head
• positioning of barrel
• emergence of bending head
which lead to a waste of time.

This tool is used for bending radii that are less than or equal to the diameter of the wire and
when the angle is no more than 100°.

Selecting the “ZigZag” tool opens the following page:

Just as with the push bending tool, the dimensions of the tool have to be entered. The
minimum and maximum “axis 1 boundaries” are calculated automatically.

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The cutting unit tool page

The cutting unit is the tool which cuts the part at the end of the cycle.

It can be reached by touching the cutting unit zone on the “Tools” page.

Definition of the
cutting tool travel

Definition of the
corrective accounting
for assembly
adjustments

Definition of the
geometry of the tool

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The functions of the tools pages

This page has 3 icons which, when you touch them, open up 2 menus or take you back
to the tool page:

To go back to the
"Tool" page

Cutting tool

Bending tool

Opens a saved tool definition file

Saves the definition of the active tool

Opens the predefined file for a standard bending head.

Opens the predefined file for a push bending head.

Opens the predefined file for a ZIGZAG head.

Opens the predefined file for a standard cutting tool.

Deletes the definition of the active tool

Cancels the last action.

Reactivates the last deleted action in memory.

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THE “CAD” PAGE:

This page enables you to define the part to be designed, thanks to 2 design modes,
XYZ and LRA, before the production programme is generated.
Toggles between LRA
and XYZ modes Displays the correctives that
adjust the part

Displays (or not), the 3D view of

the part (like on the image)

Cancels last action

Creates a new program

Repeats last action

Opens a program

Inserts a line in the program

Saves the active program

Deletes a line from the program

Imports a file (e.g. DXF)

Inverts the active bend

Exports the active program in
another format (e.g. DXF)
Starts the part from the other end

Optimises the program respecting the Inserts the mirror or the symmetry
rule of signs of the part already designed, with
respect to the last face

Calculator

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The XYZ design mode

For an XYZ design, the values entered are the coordinates of the various "points" of
the part, using a Cartesian framework. These correspond to the points of intersection of the
neutral axes between 2 consecutive bends. The first is point 0, corresponding to the start of
the piece. This mode is very practical for the user, because it is easy to determine the
coordinates of the points of intersection using the part definition drawing.

The LRA design mode

The LRA mode defines a piece depending on the straight length before the bend (L in
mm), the orientation of the bend to come compared to the previous bend (R in degrees) and
the angle of the bend (A in degrees). This design method goes hand in hand with the stages
the machine will go through to make the piece. L corresponds to the advance movement of
the wire, R to the orientation of the head and A to the bending angle.

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3D representation of the piece

The 3D representation is activated or deactivated by pressing the "3D" icon. This

representation is the same, whether you are in XYZ or LRA design mode.

Rear zoon – Displays an

overall view

Zoom on the active bend

Shows the part’s dimensions on

the 3D view

Displays the part’s design

plans

If you wish to modify the angle from which you are looking at the piece, all you have
to do is drag your finger along the 3D model display zone.

RESPECT THE ORDER IN WHICH THE PART WAS

CREATED

1 – XYZ Page: to enter values from the XYZ drawing.

2 – LRA page: to enter the dimensions or modify them or correct the
manufacture of the part.

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THE “Plan of procedure” PAGE

This page (which is produced automatically by the CAM on the basis of the tool data
and the CAM definition) displays and gives the user access to the production program code
(only at Adjustor or Administrator level). The values in the various boxes can be modified on
this page (only if you have administrator access).
During the simulation or part production, the lines of code are read and executed in
descending and sequential order.
Activation of line
filtering

Program scroll bar

P
L
A
N

O
F

P
R
O
C
E
Real time position of
D the axes
U
R
E

Creates a new program Cancels last action

Opens a program Repeats last action

Saves the current program Inserts a line in the program

Removes a line from the program

Inserts the position of the

corresponding axis into the selected
cell

Defines the line to hide

Recreates the plan of procedure

from the CAD

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Description of the plan of procedure

The plan of procedure can be broken down into various parts, composed of macro-
commands and elementary commands. Each plan of procedure starts with a list of
initialisation commands. Each of these can be modified by the user (if he has the requisite
access level), and certain commands can be added here, too.

Initialisation of the program:

Wire parameters
Tool parameters
General speed

Macro-bending edited
manually or via CAM

Macro-cut edited
manually or via CAM

Modifying the plan of procedure

Adding a Macro command

Place yourself on the line above the one you wish to add.
Press “File” “Add”.
A menu that gives you a selection of bending types then opens:

Select the macro command you want.

Fill in the various fields:

You can find the full description of all the commands in the “List of existing
commands” section.

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Adding a Macro command

Press the name or the icon of one of the commands.

Access to command addition

window

On the “Edit macro command” menu, touch a “+” (at the desired place) to add a
macro-command. Active commands are preceded by a green tick.

To insert a command
between the OTCO and
MT lines

Validation of the
modifications made

Command active. Rejection of the

To delete it, press the modifications made
green tick.

Once you have pressed the “+”, the list of all the commands opens, and you simply
have to select the one you wish to use. The full detailed description of all the
commands is to be found in the “List of existing commands” section.

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Replacing one macro command by another one

Press the name or the icon of one of the commands.

Access to command
addition window

On the “Edit macro command” menu, touch a “+” (at the desired place) to add a
macro-command. Active commands are preceded by a green tick.

To modify the current macro-

command

Validation of the
modifications made

Rejection of the
modifications made

Once you have pressed the “+”, the list of all the commands opens, and you simply
have to select the one you wish to use. The advantage of modifying it in this way is
that you keep a link with the CAM, so that if you change the CAD page, this
command will be updated. The full detailed description of all these commands is to
be found in the “List of macro commands” section.

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THE “Simulation” PAGE

This page enables the user to check the validity of a program by simulating the
movements of the wire and any collisions there may be between it and the machine during
production. The simulation is based on 3D modelling of the machine and the execution of the
program code of the plan of procedure. For off-line programming, this has the advantage of
enabling you to simulate a program that differs from the one used by the machine in
production.

Adjustment of scrolling speed

(100% = real time) Adjustment of
the zoom

Displays the movements of

the wire with respect to the
machine or vice versa

Displays or hides the

wire

Change viewing angle

Fixed shot of simulation

Launch of the
simulation

Stops the simulation

End of the cycle

Positions of the axes Adjustment of
temporal position
Start of cycle

Observation: As for the CAD page, you can change the view by touching the
simulation screen.

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THE “Production” PAGE

This page gives you access to the production mode. It enables you to define a
production list, i.e. a series of programs to carry out and a number of parts to produce. It also
tells the user about the current production status: number of parts to produce, number of parts
produced and production cycle time, etc.

“Detail” Tab

This page gives the user access to the various production parameters.

Number of parts
produced

Number of parts to Calculated value of the

produce second part produced.

Exact after 3 parts

produced.

Number of
remaining parts

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“Edit” Tab

This page enables the user to create a production list. After a number of programs have
been developed, they can be used to produce parts one after the other. All that needs to be
done is to insert them into a production list, specify the quantity of each part that needs to be
produced, to define the number of list loops and to apply the list to the production. It is
possible to work on one list while another one is in the process of producing.
Applies the
Quantity to produce production list

Number of loop to do
the list.

Create a new list Cancel last action

Open a list Repeat last action

Save active list Insert a line in the list

Remove a line from the list

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“Production” Tab

This page enables the user to visualise the production under way on the machine.

Edits the part selected

Saves the list

Reinitialises the production page.

Any modifications not saved will
be lost.

Inserts or not a partial

counter for producing the
current part

Modifies the number of repeats

of the current program

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THE “Settings” PAGE

This page has 5 tabs:

The first gives access to the movements of the machine.
The second displays the status of the robot's inputs and outputs
The third displays the machine's "defects".
The fourth is the file management page.
The last gives access to machine parameter settings, the language, the user
type, etc.

“Movements” Tab

This page enables each axis to be piloted in manual mode. The control is carried out
using the control desk (see “Control desk Controlling the axes in manual mode”) or the
number pad. The number pad has the advantage of enabling a more precise positioning of the
axis. You simply have to press on the value of the current position of the axis. The figure goes
red and a cursor appears. With the number pad, it is possible to enter the value of the desired
position and the axis will move as soon as this value is confirmed by the user, using the Enter
key (You’re your finger on the blue “Machine Safety” button, otherwise the axes will not
move).
Retiming of the axes

Relative

Absolute

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On this page, all of the axes appear, with their respective allocated numbers:
0 Feed: advance or retraction of the wire (in mm).
1 Bending: simultaneous rotation of the 2 heads to make a bend (in degrees)
3 Orientation: orientation of the machine with respect to the wire (in
degrees).
4 Cutting: relative position of the 2 parts that cut (in mm).
14 Decoiler: positive rotation (wire uncoiled) or negative (wired coiled).
31 I/O head 1: in or out movement of head 1 (activated by a jack)
32 I/O head 2: in or out movement of head 2 (activated by a jack)

“In/Out” Tab

This page gives the status of and access to the various inward and outward movements
of the DC (not all of them are allocated). It is also possible to force the status of these
movements, i.e. to attribute a desired value (0 or 1) to the variable. (This is only possible in
Administrator mode).

ATTENTION: FORCING A VARIABLE CAN BE DANGEROUS

Initialization of the variable
Forcing the variable to 1

Forcing the variable to 0

Description of the variable

Description of
possible defects

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“Defects” Tab

This page lists the defects encountered by the machine and more generally displays the
status of the machine. It is possible to display only the most recent message sent back by the
machine, or a history of all the messages it has displayed. This page is therefore a source of
information as to why a RESET has not been initiated, or a part not finished.

Displays or hides
the defect history

When a defect is resolved, a green tick is placed in front of it, as below:

Defect or status
ti

Defect or status resolved

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“Files” Tab

With this page you can manage (delete, copy…), manipulate and save (on a USB key
or floppy disk) your files. Several pages give you the option of saving the definition of the
parts, the tools and the production lists.

Empty the waste

Copy the selected file or
directory from the left to
the right

Directory containing screen shots

and the machine status

Directory containing production

lists (chaining)

Directory containing tool

definitions

Directory containing CAD

programs

Directory containing all the deleted

files

Directory containing all the part

programs

Copy the selected file or

directory from the right to
the left

Description of the control pad: Rename a file or

directory

Create a directory Delete a file or

directory

Access to parent
directory Access to the USB key

Access to the floppy

di k

Access to machine hard

drive

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“Parameters” Tab

Choice of language

Definition of the unit of

measurement

Choice of user access

level

Type of
programming

Modification of the date

Setting of rotation
direction of the decoiler
Configuration of the
network addresses

Machine stop (procedure in the

chapter « STOPPING THE
MACHINE »)

Choice of the user access level with which one works on the machine:
operator level: access to the “production” pages, the tab with the production list
is not modifiable, the "edit" tab is not accessible and the “details” page can be
modified.
the adjustor level: this level authorises the use to program and modify the
parameters on the “tools”, “CAD”, “plan of procedure”, “production” and
“settings” pages (except the page “in/out” page).
administrator level: gives access to all of the machine's pages, and also access
to certain menus that enable the DC to be updated.

Type programming on line or off line.

The "On line programming" mode means that the program displayed is the
program run by the machine.
"Off line programming" makes it possible to work with a program while the
machine is producing parts with another previously loaded program. The CAD,
Plan of procedure and Simulation pages only apply to the program currently
being worked with.

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LIST OF EXISTING COMMANDS

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The CAM macro commands

Bending without synchronous feed

Push-bending (deviation + advance + orientation)

Advance then cut (used at the end of a part)

Controlling the basic movements
00 Controlling axis 0 (feed)
01 Controlling axis 1 (bending)
02 Controlling axis 2 (orientation of the head)
03 Controlling axis 3 (barrel)
06 Control of cutting
MT TOR movement
The macro commands
CO Cutting
COI Initial cut
CPAO Push-bending by orientation
P1 Bending Plate position
PA Bending
Robot commands
SD Mount a flag at 1
SS Activate an outward movement at 1
ST Activate a time delay
TD Test a flag
TE Test an input
TT Test a time delay
Declaration commands
LC Cycle launch
N1 Reference speed
N1G General speed
N9 Permanent bending contact
ORI Initial orientation in absolute mode
ORL Orientation limits
OT1A Learning mode
OT1L Tool operation limit
OTCO Cut configuration
T9 Temporary bending contact
W1 Break of finger
FF Program Termination

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DESCRIPTION OF A STANDARD COMMAND

Line N°

Command name
Parameters of the command
Mask

Mask Parameters of the command

Command name

Line N°

The mask enables you to run several commands simultaneously, for which purpose they must
all be given the same mask (letter or figure). The decimal point “.” has no effect.

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THE CAM MACRO COMMANDS

These are the commands inserted into the plan of procedure by the CAM. There are
four of them, which appear as described below. Their declaration and their parameters are not
fixed and may be modified by the user, in order for example to optimise cycle time or to
prevent collisions between the part and the machine.

Regardless of the command referring to the CAD, a bend programming reminder is always
situated above it:
the straight length (L in mm or inches depending on the display mode) of the
wire before bending followed by the correction (delta input of CAD page)
the orientation of the bend (R in degrees) also followed by the correction (delta
inputs on CAD page CAO)
the angle of the bend (A in degrees) with its correction (delta inputs on CAD
page)
the radius (r in mm or inches depending on the display mode) with its
correction (delta input of CAD page)

bend
L: 100.00 +0.00 R: 0.00 +0.00 A: 90.00 +0.00 r: 9.00 +0.00
N°

All of these commands take into account the tool parameters, the spring back and the
lengthening of the wire. If one of these parameters is modified, then so will the bend.

Bending with/without synchronous feed

Advanc Bending Bending % bending

Msk Tool N°: Orientation Advance clearance
e angle correction advance

Line N° PA .

This command makes a simple bend where the percentage of advance can be set during the
bending process. The advantage of this is that it reduces the constraints during bending.
If the percentage of advance is 0%, then 0% of the bend will be fed forward during bending.
If the percentage of advance is 100%, then 100% of the bend will be fed forward during
bending.

Observation: By pressing the name or the icon of the command, it is possible to change the
bending process, either by replacing it with another command, or by adding a new one (see
“Programming” chapter).

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Push-bending (deviation + advance + orientation)

This command is used for push-bending. Axis 1 of the bending tool is oriented and the
wire is fed forward.
Advance
Bending angle Orientation Bending
Msk Tool N°: wire Bending advance Total Advance
Axis 1 Axis 2 correction Axis 1
Axis 0
Line N° CPAO .

Observation: By pressing the name or the icon of the command, it is possible to change the
bending process, either by replacing it with another CAM command, or by adding a new one
(see “Programming" chapter).
If a number of CPAO commands with the same bending orientation follow one
another, the part will be manufactured with a continuous advance (without stopping between
each radius).

Advance then cut (used at the end of a part)

This macro-command is used to finish off a part program. It repositions axis 02

(orientation) and if need be retracts the bending heads before feeding the right length of wire
to make a cut.
Msk Axis 2 %
Line N° 02 .
Length Advance
Msk %
Axis 0
Line N° CO .

Observation: By pressing the name or the icon of the command, it is possible to change the
bending process, either by replacing it with another CAM command, or by adding a new one
(see “Programming” chapter).

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CONTROLLING THE BASIC MOVEMENTS

These are the simplest existing commands, enabling each machine axis to be
controlled independently. These commands make it possible to generate a part program, but
there are also “Extended commands” that enable you to design a program more easily.

00 Controlling axis 0 (Feed)

This command controls the wire feed axis.
The axis control is relative.
Axis 0 %

00 . -500 → 9999 0 → 100

Name of the parameters:

Axis 0 Quantity of wire to advance (in mm)
% Percentage of the maximum speed

01 Controlling axis 1 (Bending)

This command controls the bending axis of the heads.
The axis control is absolute.
Axis 1 %

01 . -720 → 720 0 → 100

Name of the parameters:

Axis 1 Position of the bending head (in degrees)
% Percentage of the maximum speed

Axis 1 is in position
zero when the
bending head fingers
are aligned with the
wire

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02 Controlling axis 2 (Orientation)

This command controls the arm orientation axis.
Absolute position at the first call in the program and thereafter the angle is relative.
Axis 2 %

02 . -360 → 360 0→ 100

Name of the parameters:

Axis 2 Angle to cover (in degrees)
% Percentage of the maximum speed

Axis 0 is in its zero

position when the
head is oriented by
18° with respect to
the horizontal plane.

18°

03 Controlling axis 3 (Barrel)

This command controls the barrel axis.
The axis control is absolute.
Axis 3 %

03 . -119 → 40 0→ 100

Name of the parameters:

Axis 3 Positioning of the barrel (in degrees)
% Percentage of the maximum speed

Axis 3 is in its zero

position when the
middle of the 2
heads is aligned with
the wire

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06 Controlling axis 6 (Cut)

This command controls the cutting axis.
The axis control is absolute.
360° cut which corresponds to a forwards and backwards movement of the cutting unit.
Axis 6 %

06 . -360 → 360 0→ 100

Name of the parameters:

Axis 6 Angle to cover (in degrees)
% Percentage of the maximum speed

Axis 6 is in its zero

position when the
cutting edge and the
knife guard are
aligned: the wire
should be able to
move freely.

MT All Or Nothing movement

This command controls the inward or outward movement of all the heads.
NoMvt 0/1/2

MT . 31 → 32 0→2

Name of the parameters:

No Mvt number of the movement to be controlled (31: head 1; 32: head 2; 33: head 3)
0/1/2 Type of movement (0: head in // 1: head out // 2: special mvt)

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THE MACRO COMMANDS

These commands carry out extended operations such as bends with or without
synchronous feed, push bends and cuts.

CO Cutting
This command controls the cutting axis. It also generally terminates the program.
Length Advance
%
Axis 0
CO . -500 → 9999 0→ 100

Name of the parameters:

Length Advance
Length of the wire to advance or retract (in mm).
Axis 0
% Percentage of the maximum speed

COI Initial cut

This command controls the cutting axis. It is programmed at the start of the cycle and only
produces a cut if the previous part has not been produced properly. By default, the length of the first
cut is equal to the diameter of the wire.
Length Advance
%
Axis 0
COI . -500 → 9999 0→ 100

Name of the parameters:

Length Advance
Length of the wire to advance or retract (in mm).
Axis 0
% Percentage of the maximum speed

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CPAO Push-bending with orientation

This control enables you to carry out a push bend combined with a rotation of the orientation to
make helicoids.
Bending
Advance Bending angle Orientation Bending
Tool N°: correction Bending advance Orientation
wire Axis 0 Axis 1 Axis 2 advance
Axis 1
CPAO . -10 → 29 -60 → 900 -210 → 210 -360 → 360 -60 → 60 0 → 100 1 → 3000 -3600 → 3600

Name of the parameters:

Tool N°: Tool N° (defined in the initialisation of the plan of procedure)
Necessary advance of the wire before bending to leave the desired length
Advance wire Axis 0
before the bend. (in mm)
Rotation angle of the head after it has come into contact with the wire.
Bending angle Axis 1 This angle determines the radius of the bend that will be obtained (in
degrees)
Orientation of the machine head in order to make the bend in the desired
Orientation Axis 2
plane (in degrees)
Bending correction Axis Enables the user to introduce a modification to the bending angle in
1 order to obtain the right dimension (in degrees)
Advance of the wire during which the rotation of the bending head is
Bending advance
carried out. (in mm)
Total advance of the wire during the entire duration of the bending. (in
Total advance
mm)
Angle covered by axis 2 and synchronised with the advance of the wire
Orientation
(in degrees)

A push bending follows the following stages:

Step 1: Advance of the wire to leave the right straight length before the bend.
Step 2: Orientation of the bending head to tangent the wire.
Step 3: Advance of the wire and rotation of the head in order to attain the
correct inclination of the heads for bending.
Step 4: Carrying out of the bending, only the wire advances in the case of a
CPA or it is combined with the rotation of the orientation for a
CPAO.
Step 5: Rotation of the head and of the barrel in order to remove the wire from
the tool's grooves and come back to the initial position.

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P1 Bending Plate position

This command controls the bending plate.
Axis 1 Axis 3 %

P1 . -360 → 360 -40 → 40 0 → 100

Name of the parameters:

Position - during first call - or angle covered - at the second call – (in
Axis 1
degrees)
Axis 3 Position (in degrees)
% Percentage of the maximum speed

PA Bending
This command enables bends to be carried out with or without advancing the wire while bending.
Advancing the wire during the bending enables the bending effort to be reduced (when the wire is
large) and the repeatability of the part to be increased.
Bending Advance Bending
Tool N°: Advance Bending angle Orientation
correction clearance advance
PA . -10 → 29 0 → 2000 -360 → 360 -360 → 360 -60 → 60 0 → 100 0 → 100

Name of the parameters:

Tool N°: Tool N° (defined in the initialisation of the plan of procedure)
Necessary advance of the wire before bending to leave the desired length
Advance
before the bend (in mm)
Rotation angle of the head after it has come into contact with the wire.
Bending advance This angle determines the radius of the bend that will be obtained (in
degrees)
Orientation of the machine head in order to make the bend in the desired
Orientation
plane (in degrees)
Enables the user to introduce a modification to the bending angle in
Bending correction
order to obtain the right dimension.
Advance of the wire after bending in order to release the tensions in the
Advance clearance
wire between the feed and the bending head (in mm)
% of the advance of the wire (100% : wire advances at the same time as
Bending advance the bend a single point of contact, 0%: wire does not advance
finger slides)

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THE ROBOT COMMANDS

These commands are only used if you wish to handle the DC using an external
element (e.g.: belt, claw…).

SD Validation of a flag (“Set at 1”)

Flag No

SD . 0→ 31

Name of the parameters:

Flag No N° of the flag to validate (to be set at 1)

SS Set at 1 output (Word, Bit)

N° M Output No Nr b

SS . 4→ 16 0→ 15

Name of the parameters:

N° M Exit Number of output word
No Nr b Bit Number

ST Rearming of time delay to 0 seconds

Time delay N°

ST . 1→ 2

Name of the parameters:

Time delay N° Number of time delay to "rearm"

TD Flag test
This command holds the program in place if the flag is not activated, otherwise it authorises the
next line to be read.
Flag No

TD . 0→ 31

Name of the parameters:

Flag No Number of the flag to be tested

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TE Input test (Word, Bit)

This command holds the program on the current line and starts up again when the condition
has been checked.
No Input m Bit nr b 0 or 1

TE . 0 → 12 0 → 15 0→1

Name of the parameters:

No Input m Number of input word
Bit nr b Number of input bit
0 or 1 Value of the bit to test

TP Programmable time delay

The TP command enables a time delay preselection to be changed.
Time delay N° 1/100s

TP . 1→ 2 0 → 25000

Name of the parameters:

Time delay N° Number of time delay to initialise
1/100s Time delay value in 1 / 100 seconds

Example:

Test of time out for 1.5 s

→ pause of 1.5 s

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THE DECLARATION COMMANDS

These commands are used either at the start of a cycle to determine certain parameters
of the machine, or just before another command to modify the way it operates.

LC Cycle launch
Program start-up command (declaration of the characteristics of the wire)
DiaWire Spring back % Lengthening

LC . 1→ 11 0 → 20 0 → 15

Name of the parameters:

DiaWire Diameter of the wire (in mm)
Spring back Spring back of the wire (in degrees)
% Lengthening Lengthening of the wire % of the total length of the part

N1 Reference speed
Defines the reference speeds for each axis. If the value 0 is entered as the parameter of a
command, the command will use the parameters of the N1 (of the previous W1 or 100% by
default). The edited CAD commands also have these values and their default parameters.
% Spring % Advance of
% Axis 0 % Axis 1 % Axis 2 % Axis 3
back work
N1 . 0 → 100 0 → 100 0 → 100 0 → 100 0 → 100 0 → 100

Name of the parameters:

% Axis 0 Percentage of the maximum authorised speed
% Axis 1 Percentage of the maximum authorised speed
% Axis 2 Percentage of the maximum authorised speed
% Axis 3 Percentage of the maximum authorised speed
Percentage of the speed at which the bending head comes back during
% Spring back
spring back (this value is lower than that entered for axis 1)
% Advance of work Percentage of the push bending advance speed

N1G General reference speed

This command is identical to the previous one except for the fact that the same value is
allocated to all the axes.
ATTENTION: DO NOT REMOVE THIS COMMAND FROM THE CYCLE START-UP
% Speed

N1G . 0 → 100

Name of the parameters:

% Speed Percentage of the maximum authorised speeds

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N9 Permanent bending contact

Removes or introduces the bend preparation phase (normally the bend is produced in 2 phases:
the tool tangents the wire and then it bends it) with mode 0 or 1. If the tangency phase is
removed, the cycle does not take so long but there will be a collision between the wire and the
tool.
With mode 3, as soon as it is possible to go to the final position of the bend. The cycle takes
less time, but there is an increase in the collisions.
0=without 1=with 2= quick mode

N9 . 0→2

Name of the parameters:

0 = without 1 = with
Activation or deactivation of the function
2 = quick mode

ORI Initial orientation in absolute mode

Command used at the start of the cycle. It enables a choice between the absolute or quick
orientations:
Absolute: turns to chosen angle
Quick: chooses the quickest path to cover

E.g.: if axis 2 is in position 350°, it will do rotation of 10° (anticlockwise) to come back to
position 0°, instead of the 350° (clockwise) in absolute mode
0=without
1=with
ORI . 0→1

Name of the parameters:

0 = without 1 = with 0 = Activates the absolute mode || 1 = Activates the quick mode

ORL Orientation limits (Axis 2)

Limitation of the movements of the orientation arm (Axis 2) to avoid it hitting an external
element present in the enclosure.
Max direction
Max direction (-)
(+)
ORL . 0 → 36000 -36000 → 0

Name of the parameters:

Max direction (+) Maximum limit in direction + (in degrees)
Max direction (-) Minimum limit in direction - (in degrees)

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OT1A Learning mode

Enables the positions of axes 1 and 3 to be established (the bending axis and the barrel rotation
axis) for which the tool tangents the wire.
Return axis Return axis
Tool N°: Contact axis 1+ Contact axis 3+ Contact axis 1- Contact axis 3- Pin diameter
1+ 3+
OT1A . -10 → 29 -360 → 360 -60 → 60 -360 → 360 -60 → 60 -360 → 360 -60 → 60 1 → 80

Name of the parameters:

Tool N°: Tool N° (defined in the initialisation of the plan of procedure)
Position of axis 1 when the head tangents the wire before a positive bend
Contact axis 1 +
(in degrees)
Position of axis 3 when the head tangents the wire before a positive bend
Contact axis 3 +
(in degrees)
Movement of axis 1 in order to remove the wire from the tool's grooves (in
Return axis 1 +
degrees)
Movement of axis 3 in order to remove the wire from the tool's grooves (in
Return axis 3 +
degrees)
Position of axis 1 when the head tangents the wire before a negative bend
Contact axis 1 -
(in degrees)
Position of axis 3 when the head tangents the wire before a negative bend
Contact axis 3 -
(in degrees)
The diameter of the pin on the head rotation axis for a standard tool (in
Pin diameter
mm)

Operating mode:

The position values can either be entered manually by the user or obtained in the
learning mode. In the learning mode, the wire has to be tangented by controlling the axes by
hand, the box whose value needs to be measured has to be selected and then press "capture"
from the "edit" menu of the plan of procedure page.

The parameters entered into this command line are used by the commands PA and
CPA which are preceded by OT1A. The command OT1A generally appears in the command
lines introduced in the "cycle" section situated at the start of the plan of procedure. It can be
used whenever you wish to make a specific bend. It established the positions of the axes (1
and 3) for certain specific bends by defining a fictitious tool (where the figure in the tens
column is the head used).

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OT1L Limits of use (Axis 1)

Limitation of the movement of the bending heads (Axis 1) to avoid hitting an element added to
the head.
Spring back
Tool N°: Max direction (-) Max direction (-)
delta
OT1L . 10 → 29 -360 → 360 -360 → 360 -360 → 360

Name of the parameters:

Tool N°: Tool N° (defined in the initialisation of the plan of procedure)
Max direction (+) Maximum limit in of axis 1 in direction + (in degrees)
Max direction (-) Maximum limit in of axis 1 in direction - (in degrees)
Spring back delta Corrective added to the general spring back value (in degrees)

OTCO Cutting tool

Defines the way in which the cutting tool must be used to reduce the cycle time in the case of a
standard cut, a pre-cut of the wire, or to clamp the wire.
Precutting
Zero Cutting Precutting Clamping % torque
return
OTCO . 10 → 29 -360 → 360 -60 → 60 -60 → 60 -60 → 60 0 → 100

Name of the parameters:

Zero Initial position of the cut (in degrees)
Angle at which you wish to cut (for a 8 mm an angle of 60° is enough
Cutting
(in degrees)
Angle that the cutting tool motor will go to in order to carry out the
Pre-cutting
pre-cut (in degrees)
Angle location at which the cutting motor will position itself to finish
Precutting return
the pre-cut
Angle location at which the cutting motor will position itself to clamp
Clamping
the wire
Limitation of the torque in the cutting engine to carry out the clamping
% Torque without cutting the wire, it determines the clamping strength applied to
the wire

T9 Contact before bending

Command identical to N9 with the exception that it only affects the bend in accordance with its
declaration.
0=without 1=with 2=quick

T9 . 0→2

Name of the parameters:

0 = without 1 = with
Activation or deactivation of the function
2 = quick mode

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W1 Break of finger
This function measures from the first bend to the “nb mvt axis” bend the torque applied by the
motor, and calculates the average. Then in an automatic cycle, this command compares the
average of the bending torque for the designated bend(s). If the difference between the measured
torque and the torque memorised during the cycle is greater than the error, the machine stops.
% error Nb mvt axis

W1 . 0 → 109 1 → 100

Name of the parameters:

Percentage of error accepted between the reference and the measured
% error
torque
Nb mvt axis Number of bends to calculate the average

Placed just before a

critical bend (180°), it
will record the torque of
the first bend and then
compare it to the
following ones. If the
difference is greater
than 20%, the machine
stops

Observation:

This command is very useful when you have to produce a large quantity if parts
without standing over the machine, because if a tool breaks, the machine stops.

FF Cycle launch
Command telling the robot the end of the program has been reached.

FF .

Observation:

This command can be used to test the validity of a plan of procedure if you do not
wish to carry out all the command lines. The lines after this command will not be read by the
robot.

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PROGRAMMING AID

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CREATE A PROGRAM

There are 3 ways to create a part: Two methods involve 3D modelling of the part to be
produced: LRA or CAD. The third way involves building the production plan of procedure
directly. The choice of which of the two 3D modelling techniques to use will depend in the
definition of the part.

Preliminary remarks

All of the following examples use 8 mm wire, a standard cutting unit, a standard tool on head
1 and a standard bending tool on head 2.
To start a new program:
Go to the “CAD” page
Menu “Files” “New”

Configuration of the tool page:

General bend
correctives

Configuration of the "Tool Head 1" page

The various fields have to be

filled out by touching them and
entering the dimensional
characteristics of the tool.

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Configuration of the “Tool Head 2” page

The various fields have to be

filled out by touching them and
entering the dimensional
characteristics of the tool.

Tool calibration
parameters (cf. « Tool
page – bending tool »)

Configuration of the “Tool Cutting unit” page

The various fields have to be

filled out by touching them and
entering the dimensional
characteristics of the tool.

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EXAMPLE 1: Simple bend

In LRA mode

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
To make this simple bend, the dimensional values need to be entered:
50mm of straight length,
a 90° bend with a radius of 9mm,
25mm of straight length,
the cut and the optimal orientation are generated automatically.

In XYZ mode

Bend type : less than

180°

For programming in XYZ mode, the successive coordinates of the points of

intersection between the straight lengths of the neutral axes must be entered.

The first coordinate corresponds

Y X = 59 generally to the origin of the part,
Y = 34 i.e. (0, 0, 0).
The second to the length of 50mm +
the bending radius, i.e. (59, 0, 0).
The third to the end of the last
R = 9 mm straight length.
X=0 Making a bend requires a point of
Y=0 intersection, its radius and the bend
X
type to be entered.
X = 59
Z Y=0

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EXAMPLE 2: part with 2 bends of different radii

Description of the part from left to right:

Length of 50 mm
Radius of 9 mm at 90°
Length of 70 mm
Radius of 18mm mm at 45°
Length of 100 mm

In LRA mode

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
Just as in the previous example, you simply need to enter the sizes of the real piece.

In XYZ mode

Bend type : less than

180°

As for the previous example, it is necessary, for programming in XYZ mode, the
successive coordinates of the points of intersection between the straight lengths of the neutral
axis must be entered.

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EXAMPLE 3: part with 2 opposing bends of different radii

Description of the part from left to right:

Length of 50 mm
Radius of 18 mm at 90°
Length of 60 mm
Radius of 9 mm at 120°
Length of 100 mm

The two bends go in opposite directions; the first will therefore be in a positive direction,
the second in a negative direction.

In LRA mode
Theses angles
are opposite.

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
Just as in example 1, you simply need to enter the sizes of the real piece.

In XYZ mode

Bend type : less than

180°

This icon shows that the

bend is less than 180°
and that it is in the
opposite direction to the
previous one.

As for example 1, it is necessary, for programming in XYZ mode, the successive

coordinates of the points of intersection between the straight lengths of the neutral axis must
be entered.

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EXAMPLE 4: part in 3D with 3 bends

Description of the part from left to right:

Length of 50 mm
Radius of 18 mm at 90°
Length of 60 mm
Radius of 9 mm at 120° and rotation of 90° of axis 2
Length of 100 mm
Radius of 9 mm at 90° and rotation of 45° of axis 2
Length of 50 mm

The difficulty in this example is having 3 bends in different planes, which means that axis
R will have to be oriented before the second and third bends.
Attention, it is important to see the part in simulation to be sure that there is no collision
between the part and the machine during production.
If the part touches the machine during simulation, the program has to be rewritten,
inverting the direction in which the part was created. The function in the menu “Edition
Invert” will carry out this operation.

In LRA mode
Rotation angle of
the axis 2 to create a
3D part.

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
Just as in the example 1, you simply need to enter the sizes of the real piece.

In XYZ mode

Bend type : less than

180°

This icon shows that the

bend is less than 180°
and that it is in the
opposite direction to the
previous one.

As for example 1, it is necessary, for programming in XYZ mode, the successive

coordinates of the points of intersection between the straight lengths of the neutral axis must
be entered.

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EXAMPLE 5: part with large radii - push bending

Description of the part from left to right:

Length of 50 mm
Radius of 30 mm at 180°
Length of 50 mm

In the previous examples, the bending radii were small. By this is meant that they could
easily be carried out by wrapping around a tool with the same radius.
In this example, however, the radius is too great to be carried out using this technique. It is
therefore necessary to use a push bending technique. The principle involves pushing the
wire between two rolls with a greater or lesser pressure, depending on the radius desired.

In LRA mode

The desired radius is

different from r1
and r2 and greater

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
Just as in the example 1, you simply need to enter the sizes of the real piece.

In XYZ mode

Bend type : less than

180°

This icon shows that the

bend is greater than or
equal to 180° and that it
is in the + direction.

As for example 1, it is necessary, for programming in XYZ mode, the successive

coordinates of the points of intersection between the straight lengths of the neutral axis must
be entered.

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EXAMPLE 6: part with several large radii – push bending

Description of the part from left to right:

Length of 50 mm
Radius of 40 mm at 60°
Length of 30 mm
Radius of 40 mm at 60°
Length of 30 mm
Radius of 40 mm at 60°
Length of 50 mm

In LRA mode

The desired radius is

different from r1
and r2 and greater

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
Just as in the example 1, you simply need to enter the sizes of the real piece.

In XYZ mode

Bend type : less than

180°

As for example 1, it is necessary, for programming in XYZ mode, the successive

coordinates of the points of intersection between the straight lengths of the neutral axis must
be entered.

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EXAMPLE 7: complex part designed in LRA mode

This example is for descriptive purposes, and presents the usefulness of the correctives on
the CAD page.

In LRA mode

To program in LRA mode, you enter the length, the orientation where applicable, the
bending angle and the radius.
Just as in the example 1, you simply need to enter the sizes of the real piece.

Correction of the part

1.50 mm has been

added to the bending
angle to correct the
programmed radius

1.00 mm has been

added to the straight
tlength to achieve the
desired dimension.

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EXAMPLE 8: complex part designed in XYZ mode

This example is for descriptive purposes, and presents the usefulness of symmetry.

In XYZ mode

The first half of the program has been created (lines 1 to 5). Then by going into the
menu “Edition Symmetry”, the other half of the part has been calculated automatically.

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