A-78709E
Edit
Apprv. Desig.
Sheet
Title
Draw
No.
Date
Design
Descri
tion
Date
FANUC Series 16i –MB, 18i –MB5
Tool Center Point Control For 5-Axis
machining Specifications
Dec.01.2001
02 Mar.22.2002
T.Mochida All revision H.Kouzai
T.Mochida H.Kouzai
03 Dec.27.2002
T.MochidaWorkpiece coordinate system,circular ,Type2 add H.Kouzai
04 Mar.12.2003 M.Tanaka All revision H.kouzai
68
97
05 Jan.26.2004 T.Mochida Correction and addition of 5) E.Genma
- When the rotation axes of the table do not intersect
Explained below is a mechanism in which the table rotation centers do not intersect.
In the mechanism shown in the following example, the master and slave do not
intersect each other. (Fig.6 (n))
When both the master and slave are at 0 degrees, a vector from the origin of the
machine coordinate system to a point on the first rotation axis is set as a rotary table
position in parameters.
Similarly, when both the master and slave are at 0 degrees, a vector from the above
point to a point on the second rotation axis is set as an intersection offset vector
between the first and second rotation axes of the table in parameters.
axis = 0
degrees
B axis = 0 degrees
Rotary table position
Intersection offset vector between first and
second rotary axes of table
Z
Y
Machine
coordinate
s
stem
Machine in which table rotary axes do not intersect
Fig. 6 (n) Mechanism in which the master and slave do not intersect