21. AXIS CONTROL FUNCTIONS
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 angular axis is always the
Y–axis and the perpendicular axis is always the Z–axis. For angular axis
control B, however, arbitrary axes can be specified as the angular and
perpendicular axes, using parameters. 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
+Y Coordinate system actually used
Program coordinate system
+Z (Perpendicular axis)
θ : Inclination angle
When the angular axis is the Y–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 traveled along the Y–axis is determined by the following
The distance traveled along the Z–axis is corrected by the inclination of
the Y–axis, and is determined by the following formula:
The speed component along the Y–axis is determined by the following
Ya, Za, Fa : Actual distance and speed
Yp, Zp, Fp : Programmed distance and speed
The angular and perpendicular axes for 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 parameter (No.
Parameter AZR (No. 8200#2) enables angular axis manual reference
point return only with a distance along the angular axis.
By setting the normal axis/angular axis control invalid signal NOZAGC
to 1, slanted axis control only for the angular axis can be available.
In this time the angular axis are converted to those along the slanted
coordinate system without affecting commands to normal axis.
AXIS CONTROL B
D Invalidity of normal axis