Vectorial Definition Of Spindle-Table Kinematics (Type 52) - Fagor CNC 8060 Installation Manual

2.9.10
2.
CNC 8060
CNC 8065
(R : 1709)
EF
·288·

Vectorial definition of spindle-table kinematics (type 52).

This kinematics may be used to control any type of kinematics consisting of a spindle and
a table, having a maximum of two rotary axes on the spindle and two on the table.
Vectorial definition of the kinematics.
This type of kinematics may be used to define the rotary axes that make it up using vectors.
Each rotary axis of the kinematics is defined with a translation vector (position of the axis)
and a direction vector (direction of the axis). The position of the tool holder is defined the
same way, with a translation vector and a direction vector.
The translation vector may have its origin anywhere on the rotation axis of the rotary axis
(except the translation value of the tool holder, whose origin is at its base). This reference
point will be the same for all the translation vector associated with that axis.
V1
T2
V2 T1
Z
X
T3
Y
V3
V5
T5
Definition of the axes that do not exist in the kinematics.
When one of the axes of the kinematics is not physically on the machine, its parameters are
set as follows.
• Translation vector of the axis: 0,0,0
• Direction vector of the axis: 0,0,1
• Rest position: 0º
• Manual or servo-controlled rotary axis: 1 (manual)
• The variable of the corresponding component: V.G.POSROTn = 0
V1
V2
Z
Y X
V3
V4
V5
Spindle:
T1: Translation vector of the first rotary axis.
T2: Translation vector of the second rotary axis.
T3: Translation vector of the tool holder.
Table:
T4: Translation vector of the third rotary axis.
T5: Translation vector of the fourth rotary axis.
Spindle:
T4
V1: Direction vector of the first rotary axis.
V2: Direction vector of the second rotary axis.
V3: Direction vector of the tool holder.
V4
Table:
V4: Direction vector of the third rotary axis.
V5: Direction vector of the fourth rotary axis.
I n s ta ll a t io n ma n u a l.