B–64113EN–1/01
1. AXIS CONTROL
118
OPERATOR’S MANUAL
(M series) (B–64124EN)
II.20.4 Angular axis control
OPERATOR’S MANUAL
(T series) (B–64114EN)
II.19.5 Angular axis control
This function is used to set stored stroke limits under angular axis control
not in an angular coordinate system but in a Cartesian coordinate system.
Fig. 1.8.2 (a) OT area in an angular coordinate system Fig. 1.8.2 (b) OT area in a Cartesian coordinate system
When the move command Yp is specified for the angular axis under
angular axis control, the actual travel distance Ya is:
Ya = Yp/cosθ
At this time, the compensation value Xa is output onto the perpendicular
axis. The compensation value Xa is:
Xa = –Yp⋅tanθ
The machine coordinates include the value converted for the angular axis
and the compensation value for the perpendicular axis mentioned above.
So, the machine coordinate system becomes an inclined coordinate
system. Stored stroke limits are checked using a machine coordinate, so
that the limit area also becomes an inclined area. In this case, it is not easy
to recognize the area intuitively. So, a stroke check is made not in an
actual angular machine coordinate system but in a virtual Cartesian
machine coordinate system.
Reference item
1.8.2
Stored Stroke Limits in
a Cartesian Coordinate
System
General
Explanation