Multi-Axis Management - Fagor CNC 8060 Installation Manual

11.4
11.
CNC 8060
CNC 8065
(R : 1709)
EF
·564·

Multi-axis management.

A multi-axis group consists of several Sercos axes or spindles controlled by a single drive,
although not simultaneously. The axes and spindles may have different dynamics and may
be controlled either by the same motor or by different motors.
Multi-axis group composed by two axes, each one controlled by a motor.
Multi-axis group composed by two axes controlled by a single motor.
The internal (motor) feedback of both axes will be located at the drive whereas the external
(direct) feedback of each axis may be located at the remote modules, at a Sercos drive or
locally in the central unit itself. When using a single drive, it is possible to use the free
feedback input of that drive or of another one. Each axis can have its own feedback system
or both axes can share the same feedback system.
Requirements and limitations of a multi-axis group.
The axes associated with the same drive must meet the following requirements.
• Any Sercos axis of the system may be part of a multi-axis group, except those that belong
to gantry or tandem axes.
• Since each axis and spindle defined at the CNC can have several parameter sets, the
sum of sets of all the axes and/or spindles included in a group must not exceed the 8
sets available at the drive. For example, a group may consist of 8 axes with 1 parameter
set each, a spindle with 4 sets plus 2 axes with 2 sets each, etc.
• Since the axes are controlled by the same drive, all the axes of a group must have the
same Sercos address (parameter DRIVEID).
• All the axes of a group must work in the same Sercos operating mode, position or speed,
(parameter OPMODEP). If the external feedback (direct feedback) of the axis is
connected to a drive, the axis may be operated in either position-Sercos mode or velocity-
Sercos mode (velocity-Sercos mode is recommended). If the external feedback (direct
feedback) of the axis is connected to local or remote feedback input, the axis can only
work in velocity-Sercos mode.
• If the external feedback is local or remote, the CNC homes the axis as if it were analog;
the drive does not know that the axis has been homed and does not update its position
value, it only receives the velocity command. If the external feedback is connected to
another drive, it will not be possible to home the axis.
• The axis being governed by the drive is selected via PLC (mark SWITCH(axis)). The PLC
must either park the axes not governed by the drive or set them as DRO axes.
• The CNC keeps monitoring (following error, tendency test, etc.) all the axes sharing the
drive even if the axis is not selected.
I n s ta ll a t io n ma n u a l.
Axis A1
Axis A2
Axis A1
Axis A2