Yaskawa YASNAC PC NC Programming Manual - Manual (Page 10)

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YASNAC PCNC Programming Manual Chapter 1: Programming Basics
(b) Number of simultaneously controllable axes with the 4-axis control function*
The fourth axis can be selected optionally. In this manual, the fourth axis is referred to as
“a-axis” and represents any of six axes – A, B, C, U, V, and W. Which address characters
should be used for the fourth axis is set for parameters pm1109, pm1110, and pm1111,
and pm1151, pm1152, and pm1153. The number of simultaneously controllable axes is
indicated in Table 1.3.
Table 1.1.1.3: The Number of Simultaneously Controllable Axes with 4-axis
Control Function
Note 1: If “a” is included in circular interpolation, it must be a linear axis (U, V, or W). The plane in
which circular interpolation is executed is determined by the plane selection G code (G17 to
G19) which is presently valid. For details, see 2.1.3, “Circular Interpolation (G02, G03)”.
2: With a manual pulse generator, simultaneous control is possible in either one or three axes.
For the a-axis, either a rotary axis or a linear axis can be selected.
• A rotary axis (A-, B-, or C-axis) is defined as indicated in Table 1.4.
Table 1.1.1.4: Rotary Axes
Note 1: The unit of output increment (motion increment) and input increment for a rotary axis is
“degrees” instead of ‘“mm” which is used for a linear axis (X-, Y-,Z-axis). With the exception
of the unit, a rotary axis can be treated in the same manner as a linear axis. (Metric system)
(The NC circulates feedrate assuming 0.001 deg. as 0.001 mm.)
2: Even if the dimensions are changed to inches by using the inch/mm selection function, the unit
system for a rotary axis remains unchanged (degrees).
Number of Simultaneously Controllable Axes
Positioning (G00) 4 axes (X-. Y-, Z-, and a-axis)
Linear interpolation (G01) 4 axes (X-. Y-, Z-, and a-axis)
Circular interpolation (G02, G03)
2 axes (X- and Y-axis, Y- and Z-axis, or Z- and X-axis)
2 axes (X- and
a -axis, Y- and a -axis, or Z- and
α
-axis)
*Circle cutting (G12, G13) 2 axes (X- and Y-axis)
*Helical interpolation (G02, G03)
2 axes (circular interpolation in XY plane)
1 axis (linear interpolation, Z-axis)
See 2.1.4, “Helical Interpolation (G02, G03)”.
Manual operation 4 axes (X-, Y-, and a -axis)
Rotary Axis Definition
A-axis Rotary axis around an axis which is parallel to X-axis
B-axis Rotary axis around an axis which is parallel to Y-axis
C-axis Rotary axis around an axis which is parallel to Z axis
Simultaneous
3-axis control