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      <title>Step 6 - Creating Machine Axes</title>
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      <div class="title_topic3" id="xps10_pagetitle">Step 6 - Creating Machine Axes</div>
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      <p class="para_topic">Integrated Visualization and Simulation uses a piece of data called an axis to keep track of information about each movable axis on a machine tool. For every programmable slide on a machine tool, you need to define an axis in order for the simulation to work correctly. All axes reference a junction. Any axis you create can share junctions, so you do not need to create a unique junction for each axis. Here is the data needed to correctly create an axis:</p>
      <ul>
         <li>
            <p class="para_item">Name of axis - for tracking purposes</p>
         </li>
         <li>
            <p class="para_item">Junction name that the axis references</p>
         </li>
         <li>
            <p class="para_item">Axis of junction - the direction (X,Y or Z) of the junction the axis represents</p>
         </li>
         <li>
            <p class="para_item">Type of axis - rotary or linear</p>
         </li>
         <li>
            <p class="para_item">Axis limits - upper and lower machine axis limits</p>
         </li>
      </ul>
      <p class="para_topic">If you are creating a machine tool that only has linear axes, and they are orthogonal (positioned 90 degrees to each other), you only need one junction to define all the axes. Since you must create a MACHINE_ZERO junction for every machine, you can reference the three legs of the MACHINE_ZERO axis. Using only one junction when possible will save you effort and simplify the kinematics model.</p>
      <p class="para_topic">However, if you are creating a machine that has rotary axes, the axis you create needs to reference a junction that has its root at the center of rotation for that axis. For example, if you have a table-table configuration, and if the rotary tables have no offset on their centerline, you can create a junction at the point at which their centerlines intersect. You can then reference the junction for both rotary axes. If the rotary tables have an offset, you are required to create two separate junctions, one for each axis. It is beneficial to keep the number of junctions you use to a minimum.</p>
      <p class="para_topic">All linear axes (slides) use the MACHINE_ZERO as the reference junction and move along the X, Y &amp; Z directions respectively. However, if the table of any axis moves, you need to negate the reference axis direction. By doing so, the spindle moves in the correct direction. Similarly, you must also negate the reference axis direction for a rotary axis in order to keep the spindle moving in the right direction. It is important that the reference junction of a rotary axis is attached to the component on which the axis is mounted.</p>
      <p class="para_topic">Continuing with our example and starting at the top of the kinematics tree, you must now create an axis for each slide. Earlier in this process, we recommended that you use the word &quot;slide&quot; in the name of the K-components that move during simulation. If you did that, you can now easily distinguish between movable and non-movable components.</p>
      <p class="para_topic">The first component that needs an axis is the spindle. Since this machine is horizontal, the spindle is the only modeled component that moves in the Y-axis. </p>
      <p class="para_topic">Create the axes as follows:</p>
      <ol type="1" start="1">
         <li>
            <p class="para_item">With the right mouse button, click on SPINDLE, &nbsp;then select <b class="uiTerm">Insert</b> &rarr; <b class="uiTerm">Axis</b>. The <b class="uiTerm">Create Axis</b> dialog opens.
            </p>
         </li>
         <li>
            <p class="para_item">Enter a name in the <b class="uiTerm">Name</b> field. We recommend using the actual name of the axis for each axis you are creating. This axis should represent the Y-axis, so enter Y in the <b class="uiTerm">Name</b> field.
            </p>
         </li>
         <li>
            <p class="para_item">Select the junction on the machine tool that you want to reference. Assuming that all the junctions you want to reference already exist, there are two methods to do this:</p>
            <ol type="a" start="1">
               <li>
                  <p class="para_item">Click <b class="uiTerm">Select Junction</b> and select the junction graphically on the machine tool.
                  </p>
               </li>
               <li>
                  <p class="para_item">Select the junction from the <b class="uiTerm">Junction</b> drop-down list.
                  </p>
               </li>
            </ol>
         </li>
         <li>
            <p class="para_item">In the <b class="uiTerm">Axis of Junction</b> section of the dialog, designate the direction of the movement by clicking one of the radio buttons. To assist you, a coned arrow appears in the chosen axis direction in the graphics window.
            </p>
         </li>
         <li>
            <p class="para_item">Select <b class="uiTerm">linear</b> or <b class="uiTerm">rotary</b> to specify the type of axis movement.
            </p>
         </li>
         <li>
            <p class="para_item">Optionally, you can test the motion of the axes by using the play, step forward, and step back buttons at the bottom of the dialog.</p>
         </li>
         <li>
            <p class="para_item">Click <b class="uiTerm">OK</b> to close the dialog.
            </p>
         </li>
         <li>
            <p class="para_item">Repeat these steps for each axis you create. In our example, the <b class="uiTerm">Machine Tool Navigator</b> now looks like this. Note the new axes created in the Axis Name column.
            </p>
         </li>
      </ol>
      <table bgcolor="#ffffff" cellspacing="0" width="100%" align="center">
         <tr>
            <th align="left" bgcolor="#c0c0c0" colspan="1" rowspan="1" width="45%">
               <p class="para_th">Name&nbsp; </p>
            </th>
            <th align="left" bgcolor="#c0c0c0" colspan="1" rowspan="1" width="22%">
               <p class="para_th"> Classification&nbsp;</p>
            </th>
            <th align="left" bgcolor="#c0c0c0" colspan="1" rowspan="1" width="11%">
               <p class="para_th">Axis Name </p>
            </th>
            <th align="left" bgcolor="#c0c0c0" colspan="1" rowspan="1" width="20%">
               <p class="para_th">Junctions </p>
            </th>
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               <p class="para_td">FIVEAX_XY-TAB_Z-HD_AB-ROT_HOR</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
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         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_bent.gif" border="0"> &nbsp;MACHINE_BASE &nbsp;&nbsp;
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%">
               <p class="para_td">_MACHINE_BASE&nbsp;&nbsp;&nbsp;</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%">
               <p class="para_td">MACHINE_ZERO*</p>
            </td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent.gif" border="0">SPINDLE
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%">
               <p class="para_td">Y</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">Z_BASE 
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">Z_SLIDE
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%">
               <p class="para_td">Z</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">X_SLIDE 
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%">
               <p class="para_td">X</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
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         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">B_BASE
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">B_SLIDE 
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%">
               <p class="para_td">B</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="20%">
               <p class="para_td">ROT_JCT</p>
            </td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">A_BASE 
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">A_SLIDE 
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%">
               <p class="para_td">A</p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent_minus.gif" border="0">SETUP 
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent.gif" border="0">PART
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent.gif" border="0">BLANK
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
         <tr>
            <td colspan="1" rowspan="1" valign="top" width="45%">
               <p class="para_td"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_space.gif" border="0"> <img align="bottom" src="graphics/tree_gif_bent.gif" border="0">FIXTURE
               </p>
            </td>
            <td colspan="1" rowspan="1" valign="top" width="22%"></td>
            <td colspan="1" rowspan="1" valign="top" width="11%"></td>
            <td colspan="1" rowspan="1" valign="top" width="20%"></td>
         </tr>
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