20. AXIS CONTROL FUNCTION
When the angular axis makes an angle other than 90° with the
perpendicular axis, the angular axis control function controls the distance
traveled along each axis according to the inclination angle. For the
ordinary angular axis control function, the X–axis is always used as the
angular axis and the Z–axis is always used as the perpendicular axis. For
angular axis control B, however, arbitrary axes can be specified as the
angular and perpendicular axes, by specifying parameters accordingly.
A program, when created, assumes that the angular axis and perpendicular
axis intersect at right angles. However, the actual distance traveled is
controlled according to an inclination angle.
Program coordinate system
Coordinate system actually used
+Z (perpendicular axis)
θ : Inclination angle
When the angular axis is the X–axis and the perpendicular axis is the
Z–axis, the amount of travel along each axis is controlled according to the
formulas shown below.
The distance to be traveled along the X–axis is determined by the
following formula :
The distance traveled along the Z–axis is corrected by the inclination of
the X–axis, and is determined by the following formula:
Za + Zp–
The speed component along the X–axis of feed rate is determined by the
Xa, Za, Fa:Actual distance and speed
Xp, Zp, Fp:Programmed distance and speed
The angular and perpendicular axes to which angular axis control is to be
applied must be specified beforehand, using parameters (No. 8211 and
Parameter AAC (No. 8200#0) enables or disables the inclined axis
control function. If the function is enabled, the distance traveled along
each axis is controlled according to an inclination angle (No. 8210).
Parameter AZR (No. 8200#2) enables
angular axis manual reference
point return only with a distance along the
If perpendicular/angular axis control disable signal NOZAGC has been
set to 1, the angular axis control function is enabled only for the angular
axis. In such a case, the move command for the angular axis is converted
to angular coordinates. The perpendicular axis is not affected by the move
command for the angular axis.
D Method of use