Mitsubishi Electric M700V Series Programming Manual page 496

13. Program Support Functions
13.24 Tool Center Point Control; G43.4/G43.5
Passing singular point
When passing the singular point (singular position*), there are two kinds of movements to be
followed from the singular point. When using an A-C axis tilt type machinery, there are two
different movements (Fig. b, c) to be followed. In those movements, the rotation angles of the A
axis are the same absolute value but different in signs (+/-). The rotation angles of the C axis
corresponding the two movements are differed by 180 degrees one another. Determine which
one of the two movements are to be selected with parameter.
The figures below are the example of movements seen during tool center point control type 2.
When the tool center-point-side rotary axis moves in the sign (+) direction from the starting
position (Fig. a), (Fig. b) is representing "passing singular point type1". When the tool
center-point-side rotary axis moves in the sign (-) direction from the starting position (Fig. a), (Fig.
c) is representing "passing singular point type2".
<Starting position> (a) Movement in sign(+) (b) Movement in sign(-)
Y(-) Y(-)
Y(-)
C0°
C0°
C0°
θ
θ
θ
-
Z(-)
Z(-) Z(-)
Fig. b
Fig. a
Fig. c
*The position in which the tool center-point-side rotary axis or the table base-side rotary axis is 0.
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