Normal Line Control Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

6.6

Normal Line Control Function

In program operation the normal line control function controls the rotation of a rotating axis (C-axis) so that the tool is always
in the normal direction for a movement axis currently selecting a plane.
• At a block joint, the rotation of a rotating axis (C-axis) is controlled so that the tool is always in the normal direction at the
start point of the next block.
Rotating axis
(C-axis) center
Normal line control axis rotation
• During circular interpolation, the rotating axis is controlled in synchronization with the circular interpolation operation.
Rotating axis (C-axis) center
Angle of normal line control
The angle of normal line control is 0[degree] when the tool is facing the horizontal (+ direction) direction. Counter clockwise
rotation is + (plus), and clockwise rotation is - (minus).
Plane selection Description
G17 plane (I-axis - J-axis) 0[degree] when the tool is facing the +
direction of the I-axis.
G18 plane (K-axis - I-axis) 0[degree] when the tool is facing the +
direction of the K-axis.
G19 plane (J-axis - K-axis) 0[degree] when the tool is facing the +
direction of the J-axis.
Tool tip position
Tool tip position
Operation
180
180
180
J+
90
I+
0
270
I+
90
K+
0
270
K+
90
J+
0
270
6 AUXILIARY AND APPLIED FUNCTIONS
6.6 Normal Line Control Function
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