Autodesk PowerMill 2017

MTD User Guide

Autodesk PowerMill 2017
2016 Delcam Limited. All Rights Reserved. Except where otherwise permitted
by Delcam Limited, this publication, or parts thereof, may not be reproduced in
any form, by any method, for any purpose.
Certain materials included in this publication are reprinted with the permission of
the copyright holder.

Trademarks
The following are registered trademarks or trademarks of Autodesk, Inc., and/or
its subsidiaries and/or affiliates in the USA and other countries: 123D, 3ds Max,
Alias, ArtCAM, ATC, AutoCAD LT, AutoCAD, Autodesk, the Autodesk logo,
Autodesk 123D, Autodesk Homestyler, Autodesk Inventor, Autodesk MapGuide,
Autodesk Streamline, AutoLISP, AutoSketch, AutoSnap, AutoTrack, Backburner,
Backdraft, Beast, BIM 360, Burn, Buzzsaw, CADmep, CAiCE, CAMduct, Civil 3D,
Combustion, Communication Specification, Configurator 360, Constructware,
Content Explorer, Creative Bridge, Dancing Baby (image), DesignCenter,
DesignKids, DesignStudio, Discreet, DWF, DWG, DWG (design/logo), DWG
Extreme, DWG TrueConvert, DWG TrueView, DWGX, DXF, Ecotect, Ember,
ESTmep, FABmep, Face Robot, FBX, FeatureCAM, Fempro, Fire, Flame, Flare,
Flint, ForceEffect, FormIt 360, Freewheel, Fusion 360, Glue, Green Building
Studio, Heidi, Homestyler, HumanIK, i-drop, ImageModeler, Incinerator, Inferno,
InfraWorks, Instructables, Instructables (stylized robot design/logo), Inventor,
Inventor HSM, Inventor LT, Lustre, Maya, Maya LT, MIMI, Mockup 360, Moldflow
Plastics Advisers, Moldflow Plastics Insight, Moldflow, Moondust, MotionBuilder,
Movimento, MPA (design/logo), MPA, MPI (design/logo), MPX (design/logo), MPX,
Mudbox, Navisworks, ObjectARX, ObjectDBX, Opticore, P9, PartMaker, Pier 9,
Pixlr, Pixlr-o-matic, PowerInspect, PowerMill, PowerShape, Productstream,
Publisher 360, RasterDWG, RealDWG, ReCap, ReCap 360, Remote, Revit LT,
Revit, RiverCAD, Robot, Scaleform, Showcase, Showcase 360, SketchBook,
Smoke, Socialcam, Softimage, Spark & Design, Spark Logo, Sparks,
SteeringWheels, Stitcher, Stone, StormNET, TinkerBox, Tinkercad, Tinkerplay,
ToolClip, Topobase, Toxik, TrustedDWG, T-Splines, ViewCube, Visual LISP, Visual,
VRED, Wire, Wiretap, WiretapCentral, XSI
All other brand names, product names or trademarks belong to their respective
holders.

Disclaimer
THIS PUBLICATION AND THE INFORMATION CONTAINED HEREIN IS MADE
AVAILABLE BY AUTODESK, INC. "AS IS." AUTODESK, INC. DISCLAIMS ALL
WARRANTIES, EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO
ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE REGARDING THESE MATERIALS.
Contents
Introduction 1
Coordinates, workplanes and distances ............................................................. 3

Preparing CAD Data in PowerShape 6

Loading and organising the CAD data ................................................................ 6

Moving the Machine into the origin position 7

Importing External Components ......................................................................... 8
Exporting Machine Tool Entities ......................................................................... 9

Folder Structure 10
*.mtd File Structure ........................................................................................... 10

Editing the *.mtd file for tool change simulation

12
Attaching a tool to a machine part .................................................................... 12
Defining moves before and after a tool change ................................................ 12
Limiting commands to pickup or putdown ......................................................... 13
Hiding static components .................................................................................. 13
Specifying a tool change time ........................................................................... 13

Machine description 14
Description of PostProcessor Solver 17
Description of the attach points......................................................................... 18
Creating the tool-change point ................................................................. 21
Description of static elements ........................................................................... 25
Transparency or opacity of the machine parts (if necessary) ................... 29
Collision detection .................................................................................... 31

Autodesk PowerMill 2017 MTD User Guide • i

Description of the movable elements 34
Head-Head ............................................................................................... 35
Head-Table............................................................................................... 36
Table-Table (Trunion) ............................................................................... 37
Direction of movement in The Head block ........................................................ 45
Description of the movable elements: The table ............................................... 47

How to get XYZ values in PowerShape 49

Head-Head machine tools ........................................................................ 49
Table-Table machine tools ....................................................................... 52
Table-Table machine tools ....................................................................... 55

ii • MTD User Guide Autodesk PowerMill 2017

Introduction

This guide describes how to create an MTD file and how to modify an existing
MTD file to suit a particular application. It includes descriptions of the components
of MTD files and machine tool simulation.
To use this guide, you must have:
 A CAD model for the machine tool. This includes the spindle, machine head,
table and any other aspects of the machine you want to simulate, such as the
bed and the housing.
 A technical data sheet, with information about:
 Axis limits.
 Axis lengths.
 Dimensions.
 Home positions (distance between table and spindle).
 Coordinates of the tool changes.
 CAD models of the external components. This includes items which are not
linked to the machine tool, such as fixtures and controllers.
 A Text editor and source code editor, such as Notepad++, for use with
Microsoft Windows.

Autodesk PowerMill 2017 MTD User Guide 1

2 • MTD User Guide Autodesk PowerMill 2017
Coordinates, workplanes and distances
World Workplane Position
When you assemble the machine tool CAD data in PowerShape, the centre of the
table is located at the world coordinate (0, 0, 0). All other parts of the machine
tool are located with reference to this position. The spindle should be located at
Home or Z-Maximum position.

Zero Position
This is the position you want the machine tool to return to when you click Home
in PowerMill. It is the position of the model that makes up the machine tool as it
appears in PowerShape.
If the World Workplane position or the Zero position are incorrect, save the
parts of the machine in the correct position. This also applies to PowerShape: you
can move or rotate parts of machine to the correct position.
Incorrect World Workplane position:

Autodesk PowerMill 2017 MTD User Guide 3

 Correct World Workplane position:

4 • MTD User Guide Autodesk PowerMill 2017

Axes Directions
The movement of a machine tools axis, whether linear or rotational, is defined in
the *.mtd file as a vector value (i, j and k). It is important that you check which
direction you want an axis to move.
 Axis Limits — Verify the minimum and maximum allowable movement value
for each axis of the machine tool. This can be found from the machine tool
manufacturer’s technical data.
 Head Attach Point — This is the point where the tool attaches to the spindle. It
should be given as XYZ value and also include the orientation of the tool axis
vector as an IJK value. It is best practice to measure this coordinate within
PowerShape (use tools to create geometry at the centre of the spindle tip).
The following diagram shows the linear and rotary vectors of movement:
 around linear X-axis is the A rotary axis.
 around linear Y-axis is the B rotary axis.
 around linear Z-axis is the C rotary axis.

In some cases, there are machines with more than 6 axes that are not kinematic.
In this case, use another capital letters, such as D, F, and G.

Autodesk PowerMill 2017 MTD User Guide 5

Preparing CAD Data in
PowerShape

Loading and organising the CAD data

You can obtain the data from the machine tool manufacturer or you can model it
yourself. The first step is to load and arrange the data you have in PowerShape.
You can remove unnecessary surfaces or solids, and then assign each axis model
onto separate PowerShape levels.
It is advisable to label axes by their type, for example, X, Y, Z, A, B, C, Head, Bed
and Table.

6 • MTD User Guide Autodesk PowerMill 2017

Moving the Machine into
the origin position

To create a link between the world coordinates of PowerShape and PowerMill, it is

advisable to position the machine so that the World Workplane position is
located at the centre of the table of the machine.
The next step is to move the axes of the machine tool into the correct position, if
necessary.
The machine tool model data may set the Home position of an axis to an
inappropriate position. For example the Z axis may be set to a position either
touching or just above the machine table. In this instance you may want to
change the position of the Z axis so that when it imported into PowerMill it is clear
of the model.
The following graphic shows:
 Centre of table:
 X=0
 Y=0
 Z=0
 Centre of nose spindle:
 X=0
 Y=0
 Z=550
The position of the Z axis component from the World Workplane must be
measured and recorded in PowerShape if it is positioned from its zero point, as
this is used in the *.mtd file. This is the value of the gauge face and is crucial in
attaching the tool to the machine tool. The rotation centre must be measured and
recorded for later use.

Autodesk PowerMill 2017 MTD User Guide 7

Importing External Components
If the machine tool contains a housing, tool-changer, controller or other static
entities, they must be imported or created now and positioned correctly. The
machine tool model must represent the machine that is being simulated.

8 • MTD User Guide Autodesk PowerMill 2017

Exporting Machine Tool Entities
Each axis of the machine tool (for example, the spindle, table, housing and the
logos) must be exported into separate *.dmt files so you can simulate them and
edit their colour. See the example below machine tool Hermle_C12_SRT320.

The *.dmt file contains triangles: the more triangles, the better the simulation
appears. However, with more triangles, the simulation and collision-checking run
more slowly.
Choose a tolerance value:
 A tolerance value of 0.025 mm is recommended as a good balance between
quality and file size for: upper surfaces of table, spindle and some other
important parts in simulations (the movable parts in working area).
 A tolerance value of 0.05 mm is recommended as a good balance between
quality and file size for: parts of linear and rotary movements (X-axis; Y-axis;
Z-axis and additional equipment).
 A tolerance value of 0.25mm is recommended as a good balance between
quality and file size for static parts, logo, base, cnc controller and other
stationary elements.
If the simulation runs too slowly, reduce the triangulation tolerance value. All
parts included on *.mtd should not occupy more than 3-5 MB of memory.
The tolerance values are specified in the PowerShape Options dialog. To view or
change the settings, select Tools > Options > Data Exchange >
Triangle/Mesh.

Autodesk PowerMill 2017 MTD User Guide 9

Folder Structure

You must have:

 A folder containing all of the *.dmt files for the machine tool.
 The *.mtd file which describes the kinematics of the machine tool.

*.mtd File Structure

An *.mtd file has details of the solver needed to drive the machine tool. It also
defines the attach points for the head and table of the machine tool. The
remainder of the file is made up of objects called machine_part. There are two
machine_part objects which must exist. They are called head and table. Their
names must be written in lower case.
A machine_part can have:
 Other machine_part objects associated with it

An axial component can be a child of another component, which is

important when dealing with the various multi axis configurations.
 Axis controls associated with it.
 *.dmt files associated with it.
 Axis controls:
 Linear or rotational movement.
 Rotary controls must have an address letter associated to them (typically
designated as A, B or C).
 Travel and angular limits can be defined.
 X, Y and Z coordinates. X, Y and Z can be orientated anywhere as long as
they are orthogonal.

Only right handed axis systems are supported.

The types of axis that can be configured are:
 simple_linear which requires direction.
 simple_rotary which requires a position and a direction.

10 • MTD User Guide Autodesk PowerMill 2017

 To reverse a rotation direction, reverse the direction of vectors.
Remember to reverse linear direction vector, if the table controls the
axis.
When you want to create an *.mtd file, you can install the text editor on your
computer, for example Notepad++

You can download Notepad++ from http://notepad-plus-

plus.org/download). In the Main toolbar, select Language > XML.
An *.mtd can consist of 6 blocks:
 Machine description (header).
 Description of PostProcessor Solver.
 Description attach points (table_attach_point and head_attach_point).
 Description of static elements.
 Description of the movable elements. The head.
 Description of the movable elements. The table.
The following is an example *.mtd:

Autodesk PowerMill 2017 MTD User Guide 11

Editing the *.mtd file for
tool change simulation

Attaching a tool to a machine part

Each <machine_part> has a list of tools connected to it. Use the TOOLPASS
“PART_NAME” command to pass a tool to a part. This removes the tool from the
machine-tool or part and attaches it to the machine part. It is treated as a part of
the model for that part and is moved with the part

Defining moves before and after a tool

change
Use <tool_change_pre_moves> to define moves before a tool change and
<tool_change_post_moves> to define moves after a tool change. This makes it
easier to implement multiple tool changers. For example:
<machine>
<tool_change>
<tool_change_pre_moves/>
<tool_change_moves NUMBER="1"/>
<tool_change_moves NUMBER="2"/>
<tool_change_post_moves/>
</tool_change>
<tool_change>
<tool_change_pre_moves/>
<tool_change_moves NUMBER="3"/>
<tool_change_moves NUMBER="4"/>
<tool_change_post_moves/>
</tool_change>
</machine>

12 • MTD User Guide Autodesk PowerMill 2017

Limiting commands to pickup or
putdown
You can limit PowerMill to use commands only when a tool is being picked up or
put down:
 Pick up — Use a prefix of GETONLY.
 Put down — Use a prefix if PUTONLY.
Prefixes are followed by a colon, for example:
<tool_change_moves NUMBER="1">
MOVETO A0
# Put the tool down and pass it to the tool changer
PUTONLY: TOOL PASS "TOOLCHANGER"
# Pick the tool put and pass it to the machine
GETONLY: TOOLCHANGE
MOVETO A90
</ tool_change_moves>

Hiding static components

There is a HIDDEN axis priority that behaves like the STATIC priority but does not
show in the Machine Tool Position dialog. For example:
<machine_part>
<axis>
<control_info ADDRESS="T" HOME="0" VALUE="0" PRIORITY="HIDDEN" />
<simple_rotary X="0" Y="2550" Z="0" I="0" J="0" K="1" />
</axis>
</machine_part>

Specifying a tool change time

You can specify the time (in milliseconds) it takes for a tool to move. Add a TIME
argument after the MOVETO command, for example:
<tool_change_moves NUMBER="1">
MOVETO A0 TIME=50
TOOLCHANGE
MOVETO A90 TIME=50
</tool_change_moves>
The time you specify is a target, as collision checking takes precedence over the
competition of a move within a specified time.

Autodesk PowerMill 2017 MTD User Guide 13

Machine description

The machine description can include the following information:

 The Machine Tool Manufacturer.
 The Machine Tool Model.
 The Machine Tool Type.
 The Machine Tool Configuration.
 The Linear Axes Limits.
 The Rotary Axes Limits (if these exist).
 The Component Tolerance (0.025, 0.05, 0.25).

 The name of the person that built the *.mtd file.

 The date the *.mtd file was built.

 The name of the person that tested the *.mtd file (if necessary).

 Any problems that were fixed in the *.mtd file.

This information should be presented as User Comments.

14 • MTD User Guide Autodesk PowerMill 2017

 Where:
<!-- starts a comment.
--> closes a comment.

If you use XML, user comments are highlighted in green.

Autodesk PowerMill 2017 MTD User Guide 15

 See an example of the text below:
<!-- ****************************************************-->
<!-- Machine Tool Manufacturer : Hermle -->
<!-- Machine Tool Model : Hermle C12 SRT320 -->
<!-- Machine Tool Type : 5-Axis Mill -->
<!-- Machine Tool Configuration : 5-Axis Table-Table -->
<!-- Linear Axis Limits : Xmin -175 Xmax +175 -->
<!-- : Ymin -220 Ymax +220 -->
<!-- : Zmin +100 Zmax +430 -->
<!-- Rotary Axial Limits : Amin -115 Amax +115 -->
<!-- : Bmin - Bmax - -->
<!-- : Cmin -inf Cmax -inf -->
<!-- Component Tolerance : 0.025, 0.05, 0.25 -->
<!-- **************************************************-->
<!-- Who : xpolk -->
<!-- When : 23.10.2014 -->
<!-- Checked By : Name of Colleague -->
<!-- Checked : Date Checked -->
<!-- Revision : 1.002 -->
<!-- Why : Fixed wrong position-->
<!-- 12.01.2015 Fixed : fixed hierarchy -->
<!-- **************************************************-->
<!-- Hermle_C12_SRT320 -->

16 • MTD User Guide Autodesk PowerMill 2017

Description of
PostProcessor Solver

Below is a screenshot of the PostProcessor Solver:

POST is the most important part here as it tells PowerMill how or where to drive
the machine tool simulation. You must have the correct string in the MTD file as
PostProcessor is used to drive the MTD file. What you see in PowerMill is also
what the post outputs to the machine. Without that string, you cannot guarantee
that the MTD and the posted code match.
Below the text example of PostProcessor Solver:
<machine xmlns="x-schema:PowermillMachineTool" POST="pmpMultiaxis.*">
Also, without the DPP solver, you cannot use the orientation vector functionality.

Autodesk PowerMill 2017 MTD User Guide 17

Description of the attach points
Table Attach Point as written in *.mtd
This line defines the centre point of the machine table. The machine assembly
done in PowerShape should be set up so that the table centre is placed at the
world coordinate, which is 0, 0, 0.
<table_attach_point PART="table" X="0" Y="0" Z="0"/>
All other parts of the machine tool are then attached with reference to its
position.

Head Attach Point as written in *.mtd

This line defines the tool attach point. The centre point of the machine spindle
gauge face should be given here as the X, Y, Z value and the spindle axis vector
should also be given as an I, J, K value.

18 • MTD User Guide Autodesk PowerMill 2017

 The vectors I, J, and K define the tool direction:
 To achieve a tool axis direction along the positive Z axis:
 I=0
 J=0
 K=1
 To achieve a tool axis direction along the positive Y axis:
 I=0
 J=1
 K=0
 To achieve a tool axis direction along the positive X axis:
 I=1
 J=0
 K=0
In this case:
<head_attach_point PART="head" X="0" Y="220" Z="430" I="0" J="0"
K="1"/>

If you
change the direction of the vectors in the head_attach_point line for this
machine, I="0" J="0" K="1" on I="1" J="0" K="0" this gives:

Autodesk PowerMill 2017 MTD User Guide 19

 This gives the following result:

The tool (yellow cylinder) is in a horizontal position.

This is the wrong tool position for this machine. It is important to

determine correct position and direction for table_attach_point and
head_attach_point.

You can change the value of the I, J and K vectors to create *.mtd machines with
non-standard kinematics.

20 • MTD User Guide Autodesk PowerMill 2017

 The following examples show DMG and Okuma machine tools:

Do not use capital letters in the attach_point description.

Tool change simulation is available from PowerMill 2015 R2. This is an important
function for difficult projects.

Creating the tool-change point

<tool_change>
<tool_change_pre_moves>
MOVETO X0 Y350 Z300 A0 C0
</tool_change_pre_moves>
<tool_change_post_moves>
WAIT 200
MOVETO X0 Y350
WAIT 200
MOVETO Z300
</tool_change_post_moves>
<tool_change_moves>
MOVETO X0 Y350
WAIT 200
TOOLCHANGE
MOVETO X0
WAIT 200
</tool_change_moves>
</tool_change>

Autodesk PowerMill 2017 MTD User Guide 21

 Where:
 MOVETO X0 Y350 Z300 A0 C0 describes the position and direction of the point
of tool changing.
 WAIT 200 indicates the delay in milliseconds

Point number one indicates the position of the head_attach_point.

Point number two indicates the position of the tool_change.

22 • MTD User Guide Autodesk PowerMill 2017

 The Tool_change on the next picture (in XML language) is:

The tool change command is: MOVETO X735 Y0 Z500 B-90 C270.

Autodesk PowerMill 2017 MTD User Guide 23

 Before changing the tool:

At the time of changing the tool:

24 • MTD User Guide Autodesk PowerMill 2017

Description of static elements
The next step is to define the machine parts. First, define which parts of the
machine tool are static, such as the Base, Housing and the Controller. They
need to be defined in order to visually represent the machine tool.
All static parts of the machine should be described in the block The static bits.

Autodesk PowerMill 2017 MTD User Guide 25

 Any part of the machine is loaded into *.mtd * using the following commands:

<machine_part>
<model_list>
<dmt_file>
<path FILE="machine/part_1.dmt"/>
<rgb R="0" G="140" B="255"/>
</dmt_file>
</model_list>
</machine_part>
Where:
 <path FILE="machine/part_1.dmt"/> . This line gives the location of the
machine part.
 <rgb R="0" G="140" B="255"/> . This line gives the colour of machine
part.
A colour in the R (red) G (green) B (blue) colour model is described by indicating
how much of each of the red, green, and blue is included. The colour is expressed
as an RGB triplet (r,g,b), each component of which can vary from zero to a
defined maximum value. If all the components are at zero the result is black; if
all are at maximum (255), the result is the brightest representable white.

You can include all static parts on one <machine_part>:

<machine_part>
<model_list>
<dmt_file>
<path FILE="machine/part_1.dmt"/>
<rgb R="0" G="140" B="255"/>
</dmt_file>
<dmt_file>
<path FILE="machine/part_2.dmt"/>
<rgb R="0" G="0" B="0"/>
</dmt_file>

26 • MTD User Guide Autodesk PowerMill 2017

 <dmt_file>
<path FILE="machine/part_3.dmt"/>
<rgb R="0" G="140" B="255"/>
</dmt_file>
<dmt_file>
<path FILE="machine/part_4.dmt"/>
<rgb R="0" G="140" B="255"/>
</dmt_file>
<dmt_file>
<path FILE="machine/part_5.dmt"/>
<rgb R="0" G="140" B="255"/>
</dmt_file>
</model_list>
</machine_part>
Alternatively, you can use for each static element a personal
<machine_part>:
<machine_part>
<model_list>
<dmt_file>
<path FILE="machine/part_1.dmt"/>
<rgb R="0" G="140" B="255"/>
</dmt_file>
</model_list>
</machine_part>
<machine_part>
<model_list>
<dmt_file>
<path FILE="machine/part_2.dmt"/>
<rgb R="0" G="0" B="0"/>
</dmt_file>
</model_list>
</machine_part>
<machine_part>
<model_list>
<dmt_file>
<path FILE="machine/base.dmt"/>
<rgb R="60" G="80" B="255"/>
</dmt_file>
</model_list>
</machine_part>

Use the most important static part at the end of static block. For example:
base, table, pallet etc.
Below is an example of the full text of the static block:
<!-- ===== The static bits ===== -->
<machine_part>
<model_list OPACITY="10">
<dmt_file>
<path FILE="Hermle_C12_SRT320/housing.dmt"/>
<rgb R="250" G="250" B="250"/>
</dmt_file>
<dmt_file>
<path FILE="Hermle_C12_SRT320/door.dmt"/>
<rgb R="240" G="240" B="240"/>
</dmt_file>
<dmt_file>
<path FILE="Hermle_C12_SRT320/handle.dmt"/>
<rgb R="255" G="0" B="0"/>
</dmt_file>
</model_list>

Autodesk PowerMill 2017 MTD User Guide 27

 </machine_part>
<machine_part>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/logo_1.dmt" />
<rgb R="255" G="0" B="0"/>
</dmt_file>
</model_list>
</machine_part>
<machine_part>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/logo_2.dmt" />
<rgb R="200" G="200" B="200"/>
</dmt_file>
</model_list>
</machine_part>
<machine_part>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/base.dmt" />
<rgb R="80" G="80" B="80"/>
</dmt_file>
</model_list>
</machine_part>
Additional commands for static block:
 Transparency or opacity of machine parts (if necessary).
 Collision detection.

28 • MTD User Guide Autodesk PowerMill 2017

Transparency or opacity of the machine parts (if
necessary)
Use the next command:
<model_list OPACITY="XX"> where XX can be from 0 up to 100.
This command is used for obtaining a partly-transparency:
 0 — 100% transparent.
 10 — 90% transparent.
 100 — 0% transparent
For example, enter <model_list OPACITY="0"> (giving 100% transparency):

Autodesk PowerMill 2017 MTD User Guide 29

 <model_list OPACITY="10"> (giving 90% transparency):

<model_list OPACITY="100"> (giving 0% transparency):

30 • MTD User Guide Autodesk PowerMill 2017

 All machine parts, that are included in such <model_list OPACITY="10"> have
the same transparency. If you want use different transparency then use different
<model_list OPACITY="XX">.

Collision detection
The static parts are used for detailed visualization of the machine and for
determining the correct workspace for simulation. Simulating the machine
movements is important for the detection of collisions for all types of machines
tools (3-axis, 4-axis, 5-axis and others).

PowerMill does not detect collisions with static elements (it is dangerous,
especially for the five-axis machine tools).
See the next example with CMS_Antares Head-head machine (the table part is
not moveable).

Autodesk PowerMill 2017 MTD User Guide 31

 The following shows the static block text, where pallet.dmt is the upper surface of
the table.

Using Machine Tool Position in PowerMill enables you to change the Z axis
position. If you move the Z axis down (simulation of collision Z-axis_head with a
table), the collision is not detected in PowerMill.

32 • MTD User Guide Autodesk PowerMill 2017

 You must change the description of pallet.dmt.
<machine_part NAME="pallet">
<model_list>
<dmt_file>
<path FILE="CMS_Antares/pallet.dmt" />
<rgb R="255" G="255" B="255" />
</dmt_file>
</model_list>
</machine_part>
When the NAME parameter is added to the <machine_part> description, PowerMill
detects the collision correctly:

When a collision occurs, the colliding parts of machine are coloured and a warning
message is displayed:

All static parts of machine, which are located at working area, must be described
as above.

Autodesk PowerMill 2017 MTD User Guide 33

Description of the
movable elements

This topic looks at the main types of machine tools (kinematics and structure).
Every *.mtd that you create differs, depending on the configuration of the
machine tool. This is important for 5 axis machine tools, where the axes are
defined in the *.mtd as head or table entities. For 5 axis machines there will be 3
different configurations:
 Head-Head.
 Head-Table.
 Table-Table (Trunion).
Below are three examples showing how the different configurations can be split
into head and table components. Machine tools are not limited to these
configurations; they are given as a guide:

34 • MTD User Guide Autodesk PowerMill 2017

Head-Head

Example of Head-Head – Zayer FPC-AR:

Autodesk PowerMill 2017 MTD User Guide 35

Head-Table

Example of Head-Table – DMG DMU80 monoBLOCK:

36 • MTD User Guide Autodesk PowerMill 2017

Table-Table (Trunion)

Example of Table-Table Hermle_C12_SRT320 (Table 320):

Autodesk PowerMill 2017 MTD User Guide 37

 Now you can create the <machine_part> definitions. There are two
<machine_part> definitions: one for the head of the machine and one for the
table. This example defines a machine tool with a Table-Table configuration.
As a result of this configuration, the Head machine part consists of elements
making up the X, Y and Z axial components. The Table machine part consists of
elements making up the A and C axial components. See previous picture
(Hermle_C12_SRT320).
Let us consider hierarchy of machine movements:

This example begins with the Y axis. The component model that makes up the Y
axis acts as the parent component upon which the remaining axial components
for X and Z are attached. You must give each axial component a definition:
<axis>: Used to define an axis. Within this we need to give an axis a name, a
value, limits and a movement vector.

Use the following commands to define the axis:

 control_info ADDRESS — This defines the axis name as X, Y, Z, A, B, C or
any other names.
 VALUE — This is the value that is shown in the Machine Information Dialog
when the machine is in its home position.
 MIN and MAX — These are the limits that the axis can travel to.
 PRIORITY — Defines the priority of movements, respectively "HIGH",
"MEDIUM" and "LOW".
 HOME — Assigns a new correct position of "home position" (if VALUE is wrong).
 simple_linear — Defines how an axis moves if it is only for linear movement
using vectors I, J or K.
 simple_rotary — Defines how an axis moves only for rotational movement.
You must define the centre of rotation and a vector to define the direction of
rotation.

38 • MTD User Guide Autodesk PowerMill 2017

 How they all fit together in our Hermle machine tool example:

T
his Hermle machine tool has:
Centre of table: X=0; Y=0; Z=0.
Centre of spindle: X=0; Y=220; Z=430.
Below is a text of description of the Y-axis:
<machine_part>
<axis>
<control_info ADDRESS="Y" VALUE="220" HOME="0" MIN="-220"
MAX="220" />
<simple_linear I="0" J="1" K="0" />
</axis>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/y-axis_head.dmt" />
<rgb R="185" G="185" B="185"/>
</dmt_file>
</model_list>

Autodesk PowerMill 2017 MTD User Guide 39

 Use the following commands:

 <machine_part> — Create (open) the part of the *.mtd.

 <axis> and </axis> — Open and close the description of the axis.
 <control_info ADDRESS="Y" — Create a Y axis. "Y" is the name of the axis.
 VALUE="220" — A command that states that the current position of the Y axis
is 220 mm (data from PoweShape).
 HOME="0" — A command that returns the Y-axis to the "0" position (centre of
table); If you use HOME="-100", then the position of Y-axis is Y=-100. The
command HOME is used to give the correct position for all axial parts of
machine (origin position).
 MIN="-220" and MAX="220" — Minimum and maximum limits of axis
movement.
 <simple_linear … /> — Create the linear axis.
 I="0" J="1" K="0" /> — Direction of movement; if I="1" J="0" K="0"
then motion occurs along the X axis, if I="0" J="1" K="0" then motion takes
along Y axis, if I="0" J="0" K="1" then motion occurs along the Z-axis.
 <model_list> and </model_list> — Open and close the line of model.
 <dmt_file> and </dmt_file> — Open and close the file.
 <path FILE="Hermle_C12_SRT320/y-axis_head.dmt" /> — The address
where the file is located.
 <rgb R="185" G="185" B="185"/> — The colour scheme of the machine
part: R-red, G-green, B-blue.
 </machine_part> close the part of mtd.
Additional commands, that describe the rotary parts of the machine.

Such commands as:

 <simple_rotary /> — Create the rotary axis.
 X="0" Y="0" Z="80" — The coordinates of the centre of rotation relative to
the global coordinate system (table_attach_point).
 I="-1" J="0" K="0" — Direction of movement; if I="1" J="0" K="0" then
rotation occurs around the X axis, if I="0" J="1" K="0" then rotation
occurs around the Y axis, if I="0" J="0" K="1" then rotation occurs around
the Z axis.

40 • MTD User Guide Autodesk PowerMill 2017

 Minus indicates the direction of rotation, if I="-1" J="0" K="0" then rotation
occurs around the X axis in the negative direction.

Full details about a coordinates and direction of rotation are given in a

later section.
Each machine axis can contain several parts of the machine, for example Z-
axis_head. Traditionally Z-axis included such parts as: Z-axis, the spindle,
cooling equipment and the logo:

You can use different colours for each part, but can’t use different OPACITY.
OPACITY are applied for all parts in one <model_list>.

VALUE does not always need to be presented in origin position. You can
use the command HOME to define this position.
The most important parameter for each machine is distance between the upper
surface table and the spindle nose. This distance is called Spindle Nose to Table.
These values define the limits of the Z-axis: Zmin and Zmax, relative the centre
of the table (X=0; Y=0; Z=0).

Autodesk PowerMill 2017 MTD User Guide 41

 For example, specification Haas VF-2:

The information about the Spindle Nose to Table can be given by drawings stating
the travel range of each axis. Below is an example of Okuma_Millac_33TU.

The example above (Z-axis_head on the previous page) shows a list of three
models that are used to make up the Z-axis of the machine tool: z-axis_head,
cooler, spindle. The remaining components are axial.

You must associate axis components and controls to the primary

machine_part object.
Following is an example of the machine tool Hermle_C12_SRT320. The Y-axis is
the primary (or parent) component for the head assembly. Therefore, before you
close the Y-axis machine_part, you must open a new machine_part for each new
axis component and continue until all head components making up the head of
the machine are defined, excluding specific details for each axis.

42 • MTD User Guide Autodesk PowerMill 2017

 The layout for the Hermle_C12_SRT320*.mtd is as follows:

The full specification of the head is shown below:

<!-- ===== The head ===== -->

<machine_part>
<axis>
<control_info ADDRESS="Y" VALUE="220" HOME="0" MIN="-220"
MAX="220" />
<simple_linear I="0" J="1" K="0" />
</axis>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/y-axis_head.dmt" />
<rgb R="185" G="185" B="185"/>
</dmt_file>
</model_list>
<machine_part>
<axis>
<control_info ADDRESS="X" VALUE="0" MIN="-175"
MAX="175"/>
<simple_linear I="1" J="0" K="0" />
</axis>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/x-
axis_head.dmt" />
<rgb R="100" G="100" B="100"/>
</dmt_file>
</model_list>
<machine_part>
<axis>
<control_info ADDRESS="Z" VALUE="430" MIN="100"
MAX="430" />
<simple_linear I="0" J="0" K="1"
/>
</axis>
<model_list>
<dmt_file>

Autodesk PowerMill 2017 MTD User Guide 43

 <path
FILE="Hermle_C12_SRT320/z-axis_head.dmt" />
<rgb R="215" G="215"
B="215"/>
</dmt_file>
<dmt_file>
<path
FILE="Hermle_C12_SRT320/cooler.dmt" />
<rgb R="200" G="200"
B="200"/>
</dmt_file>
<dmt_file>
<path
FILE="Hermle_C12_SRT320/spindle.dmt" />
<rgb R="120" G="120"
B="120"/>
</dmt_file>
</model_list>
<machine_part NAME="head" />
</machine_part>
</machine_part>
</machine_part>
At the end of the block "The head" you can use: <machine_part NAME="head"
/> This line defines the parts of the machine (all parts previously described: y-
axis_head.dmt; x-axis_head.dmt; z-axis_head.dmt; cooler.dmt;
spindle.dmt) as "The head" and connects them with the solver of PowerMill and
the PostProcessor.

44 • MTD User Guide Autodesk PowerMill 2017

Direction of movement in The Head
block
The positive movement of head-axes of the machine tool must match the
positive directions of the axes of the global coordinate system.
According to this, the direction of vectors of movement (I, J and K) must have
positive values. See below:

Check the direction of movement.

1 Open the machine tool (Hermle) in PowerMill.
2 Select View > Toolbar> Machine Tool.
3 In the Machine Tool toolbar, select Model View.

Autodesk PowerMill 2017 MTD User Guide 45

 Use the Machine Tool Position dialog to check the direction of movement is
correct.

46 • MTD User Guide Autodesk PowerMill 2017

Description of the movable elements:
The table
Consider the movable elements of the table using an example
Hermle_C12_SRT320. The rules of description are the same as for the head of
the machine. In our Hermle machine tool example there are two axes
components making up the table of the machine: a-axis_table and c-
axis_table.

Below is a screenshot from the *.mtd file:

The a-axis_table is the primary (or parent) component for the table assembly.
Therefore, before you close the a-axis machine_part, open a new machine_part
for the c-axis_table component.
At the end of the block, "The table" you must use <machine_part
NAME="table"/> this line defines the parts of the machine as "The Table" (all
parts previously described: a-axis_table.dmt and c-axis_table.dmt) and
connects them with the solver of PowerMill and PostProcessor.
This example uses the same definitions that were used with the machine head
components. However, one difference highlighted is when you use a negative
vector for the linear and rotary movement. In our case, a-axis_head and c-
axis_head has negative direction.

Autodesk PowerMill 2017 MTD User Guide 47

 As the table controls the a-axis, in order to simulate a positive a-axis movement
from a toolpath, the table needs to move in the opposite direction. When you
view the movement in the machine tool position dialog, all movements appear
normal. However, the table moves in the opposite direction to the Workplane.

All axes (linear and rotary) included in "The Table" should move in
opposite direction therefore need use minus for I, J or K vectors.
The full text of the Table section is:
<!-- ===== The table ===== -->
<machine_part>
<axis>
<control_info ADDRESS="A" MIN="-115" MAX="115" />
<simple_rotary X="0" Y="0" Z="80" I="-1" J="0" K="0" />
</axis>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/a-axis_table.dmt"
/>
<rgb R="140" G="140" B="140"/>
</dmt_file>
</model_list>
<machine_part>
<axis>
<control_info ADDRESS="C" />
<simple_rotary X="0" Y="0" Z="0" I="0" J="0"
K="-1" />
</axis>
<model_list>
<dmt_file>
<path FILE="Hermle_C12_SRT320/c-
axis_table.dmt" />
<rgb R="200" G="200" B="200"/>
</dmt_file>
</model_list>
<machine_part NAME="table" />
</machine_part>
</machine_part>

48 • MTD User Guide Autodesk PowerMill 2017

How to get XYZ values in
PowerShape

When you create an *.mtd file you need to know the exact location of the head
attach point, rotation centre and axis values. We can do this in PowerShape by
creating some simple geometry at any points of interest.
The following examples demonstrate how to identify the coordinates for different
types of machine tool.

Head-Head machine tools

Head-Head machine tool with collinear vectors of rotation (the axes of rotation
are parallel to the axes of the global coordinate system).
For example, you need the centre of rotation for the A axis of the Rye machine
tool. Below is an image of the machine tool where the A axis rotates around the X
axis.

Autodesk PowerMill 2017 MTD User Guide 49

 The arrow shows the part of the machine where the A axis component is
attached. The A axis component rotates around a centre point of this part so in
PowerShape we isolate this part.

We then create some simple geometry (a line or an arc for example) where we
can easily note the exact location for the centre of rotation:

50 • MTD User Guide Autodesk PowerMill 2017

 Editing the arc gives the centre point coordinates:

The global coordinate system (GCS) must be activated and be located in

the centre of the table (X=0 Y=0 Z=0). We can either change the X value
to zero to move the arc to the centre of the cylinder or just ignore it and
keep it zero in the *.mtd
This results in:

The rotation of A-axis_head occurs around the X axis. Therefore the directions of
the vectors are: I=”1” J=”0” K=”0”.

Use positive value of vectors for movement parts of head. Use negative
value of vectors for movement parts of table.

Autodesk PowerMill 2017 MTD User Guide 51

Table-Table machine tools
Table-Table machine tool (Hermle_C12_SRT320) with collinear vectors of rotation
(the axes of rotation are parallel to the axes of the global coordinate system).

52 • MTD User Guide Autodesk PowerMill 2017

 Let us open A-axis_table and C-axis_table in PowerShape. Then you can
create new Local Coordinate System (LCS number 1) at X=0 Y=0 Z=0. This
coordinate system duplicates the Global Coordinate System (GCS). See below.

In PowerShape it is important to have the correct position of the activated

coordinate system.

Then you must create some simple geometry (a line or an arc, for example)
where you can easily identify the exact location for the centre of rotation:

Autodesk PowerMill 2017 MTD User Guide 53

 We can change the X value to 0 to move the arc to the centre of the table or just
ignore it and keep it zero in the *.mtd. As a result, we get:

The centre of rotation of C-axis_table:

In some cases, it is difficult specify the correct position of the machine

part (for example: poor quality geometry machine, wrong machine
assembly). Use the specification of the machine tool to find the correct
solution.
Example with Haas rotation table TR 210:

54 • MTD User Guide Autodesk PowerMill 2017

Table-Table machine tools
Head-Table machine tool (DMG_DMC_80_U2_DuoBlock) without collinear vectors
of rotation (the axes of rotation are not parallel to the axes of the global
coordinate system).

Such rotation is complicated because it consists of two rotational movements

(around Z-axis and around Y-axis).

Autodesk PowerMill 2017 MTD User Guide 55

 It is necessary to find the centre of rotation and the direction of motion. Consider
the plane of rotation.
Let us create new local coordinate system (LCS-1) in the centre of table X=0 Y=0
Z=0. We then create some simple arcs where we can note the exact location of
the centre of rotation:

Double clicking on arc. The point A is centre of rotation with coordinates:

X=-0.098279 Y=285.29986 Z=483.74620.
We use these coordinates to define centre of rotation.

56 • MTD User Guide Autodesk PowerMill 2017

 At the centre of rotation (point A), we create local coordinate system (LCS-2)
oriented like the global coordinate system. See below:

Then, create local coordinate system (LCS-3) at the point A, oriented

perpendicular created arc (Z-axis should be perpendicular to the created arc):

Autodesk PowerMill 2017 MTD User Guide 57

 By using activated LCS-3 create short line (start point x=0; y=0; z=0; and end
point x=0; y=0; z=1)

Then we activate LCS-2 and double click on short line. See result below:

Where I=0; J=0.707107; K=0.707107. We find the direction of movement.

58 • MTD User Guide Autodesk PowerMill 2017

 See screenshot below:

If the elevation is 45 degrees then we can use I=0; J=1; K=1.

Finally, use PowerMill and PostProcessor for testing the MTD (check the start and
end point, correct position of all parts of machine, collision detection, direction of

Autodesk PowerMill 2017 MTD User Guide 59