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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 90

3. MANUAL OPERATION

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Table 3.8.2 (a) Tool axis direction

Parameter No. 19697

Tool axis right-angle direction 1

Tool axis right-angle direction 2

(The reference tool direction is +X.)

+Y direction

+Z direction

(The reference tool direction is +Y.)

+Z direction

+X direction

(The reference tool direction is +Z.)

+X direction

+Y direction

Fig. 3.9.2 (a) shows the tool axis right-angle directions that may be taken when the angles of all the
rotation axes for controlling the tool are 0 degree and when parameters Nos.19698 and 19699 are both set
to 0.
When the reference tool axis direction is inclined based on the settings of parameters Nos.19698 and
19699, the tool axis right-angle direction is also inclined as much.
As the rotation axes for controlling the tool rotate, the tool axis right-angle direction changes according to
the rotation axis angle.

Fig. 3.8.2 (a) Tool axis direction

(Example)

When the tool rotation axes are B-axis and C-axis and the tool axis
direction is the Z-axis direction

Tool axis right-angle direction 2

Tool axis direction

Tool axis right-angle direction 1

Fig. 3.8.2 (b) Example of tool axis direction

Latitude and longitude directions

When bit 1 (FLL) of parameter No. 12320 is set to 1, the feed direction is defined as follows:

Let a vector perpendicular to a plane formed by the tool axis direction vector (



) and normal axis

direction vector (



) (parameter No. 12321) be the tool axis right-angle direction 1 (longitude direction)

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vector (



). When tool axis right-angle direction 1 is selected, a movement in the positive direction

means a movement in this vector direction, and a movement in the negative direction means a movement
in the direction opposite to the vector direction. (Longitude direction feed)

Equation:



Let a vector perpendicular to the tool axis direction vector (



) and tool axis right-angle direction 1

(longitude direction) vector (



) be the tool axis right-angle direction 2 (latitude direction) vector (



When tool axis right-angle direction 2 is selected, a movement in the positive direction means a
movement in this vector direction, and a movement in the negative direction means a movement in the
direction opposite to the vector direction. (Latitude direction)

Equation:



When the tool axis direction vector (



) is parallel to the normal axis direction vector (



) (parameter No.

12321) (when the angle between them is not greater than the setting of parameter No. 12322), tool axis
right-angle direction 1 and tool axis right-angle direction 2 are assumed as follows:

Table 3.8.2 (b) Latitude and longitude directions

Parameter No.

12321

Normal axis direction

Tool axis right-angle direction

+X direction

+Y direction

+Z direction

+Y direction

+Z direction

+X direction

+Z direction

+X direction

+Y direction

If 0 is set in parameter No. 12321, the normal axis direction is set to the reference tool axis direction
(parameter No. 19697).
If a value other than 0 to 3 is specified in parameter No. 12321, alarm PS5459, “MACHINE
PARAMETER INCORRECT” is issued.

Fig. 3.8.2 (c) Latitude and longitude directions

Tool axis right-angle direction feed in the tilted working plane indexing mode

If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of the tool axis right-angle direction
feed in the tilted working plane indexing mode is defined as follows:
Tool axis right-angle direction 1: X direction in the feature coordinate system of the tilted working plane
indexing
Tool axis right-angle direction 2: Y direction in the feature coordinate system of the tilted working plane
indexing

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3.8.2.1

Tool axis right-angle direction handle feed

The tool axis right-angle direction handle feed is enabled when the following four conditions are
satisfied:
<1> Handle mode is selected.
<2> The tool axis right-angle direction feed mode signal RGHTH <Gn023.6> is set to 1 and the table

base signal TB_BASE is set to 0.

<3> The state of the first manual handle feed axis selection signals (HS1A to HS1E) to make the tool

axis right-angle direction handle feed mode effective is set in parameter No. 12311 or 12312.

<4> The value of parameter No.12311 or No.12312 matches the first manual handle feed axis selection

signals (HS1A to HS1E).

Amount of movement

When the manual pulse generator is rotated, the tool is moved in the tool axis right-angle direction by the
amount of rotation.

Feedrate clamp

The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse
rate (parameter No.1424). Handle pulses generated while the clamp feedrate is exceeded are ignored.
If manual handle feed maximum feedrate change signal HNDLF<Gn023.3> is "1", clamping is performed
by the maximum handle feedrate (parameter No. 1434).

3.8.2.2

Tool axis right-angle direction JOG feed/tool axis right-angle
direction incremental feed

The tool axis right-angle direction JOG feed or tool axis right-angle direction incremental feed is enabled
when the following three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.
<2> The tool axis right-angle direction feed mode signal RGHTH is set to 1 and the table base signal

TB_BASE is set to 0.

<3> The feed axis direction selection signal (+Jn, -Jn (where n = 1 to the number of controlled axes)) is

set to 1 for the axis corresponding to the direction that is perpendicular to the direction specified by
parameter No. 19697. (Even when the tool axis direction is slant because of the settings of
parameters Nos.19698 and 19699, the signal that activates the tool axis right-angle direction JOG
feed or tool axis right-angle direction incremental feed is determined by parameter No. 19697 only.)
Ex.) Parameter No. 19697=3 (+Z-axis direction); X-, Y-, and Z-axes are the 1st, 2nd, and 3rd axes

of control axes respectively.

•

+J1: Tool axis right-angle direction 1 +

•

-J1: Tool axis right-angle direction 1 -

•

+J2: Tool axis right-angle direction 2 +

•

-J2: Tool axis right-angle direction 2 -

Feedrate

The feedrate is the dry run rate (parameter No. 1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate is the jog feedrate (parameter No. 1423) for
a driven feed axis direction selection signal. The manual feedrate override feature is available.

Feedrate clamp

The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse
rate (parameter No. 1424).

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3.8.3

Tool Tip Center Rotation Handle Feed/Tool Tip Center
Rotation JOG Feed/Tool Tip Center Rotation Incremental
Feed

Overview

In the tool tip center rotation handle feed, tool tip center rotation JOG feed, and tool tip center rotation
incremental feed, when a rotary axis is rotated by manual feed, the linear axes (X, Y, and Z axes) are
moved so that turning the rotation axis does not change the relative relationship between the tool tip
position and the workpiece (table).
-

The Fig. 3.8.3 (a) shows an example where the tool is rotated on the rotation axis. In this case, the
linear axes are moved so that the position of the tool tip is not moved with respect to the workpiece.

Workpiece

Tool tip position

Fig. 3.8.3 (a) Example where the tool is rotated

The Fig. 3.8.3 (b) shows an example where the table is rotated on the rotation axis. As in the
previous case, the linear axes are moved so that the position of the tool tip is not moved with respect
to the workpiece (table).

Table

Workpiece

Fig. 3.8.3 (b) Example where the table is rotated

3.8.3.1

Tool tip center rotation handle feed

The tool tip center rotation handle feed is enabled when the following four conditions are satisfied:
<1>  Handle mode is selected.
<2>  The tool tip center rotation feed mode signal RNDH <Gn298.2> is set to 1.
<3>  The state of the first manual handle feed axis selection signals (HS1A to HS1E) to make the tool tip

center rotation handle feed mode effective is set in parameter No. 12313 or 12314.

<4> The value of parameter No. 12313 or 12314 matches the first manual handle feed axis selection

signals (HS1A to HS1E).

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Amount of movement

When the manual pulse generator is rotated, the rotation axis is moved by the amount of rotation. The
linear axes (X, Y, and Z axes) are moved so that turning the rotation axis does not change the relative
relationship between the tool tip position and the workpiece.

Feedrate clamp

The feedrate is clamped so that the synthetic speed of the linear axes (the tangential direction speed) does
not exceed the manual rapid traverse rate (parameter No. 1424) (of any moving linear axis). The feedrate
is also clamped so that the speed of the rotation axis does not exceed the manual rapid traverse rate
(parameter No. 1424) (of that particular axis). Handle pulses generated while the clamp feedrate is
exceeded are ignored.
If manual handle feed maximum feedrate change signal HNDLF<Gn023.3> is "1", clamping is performed
by the maximum handle feedrate (parameter No. 1434).

3.8.3.2

Tool tip center rotation JOG feed/tool tip center rotation
incremental feed

The tool tip center rotation JOG feed or tool tip center rotation incremental feed is enabled when the
following three conditions are satisfied:
<1>  JOG mode or incremental feed mode is selected.
<2>  The tool tip center rotation feed mode signal RNDH is set to 1.
<3>  The feed axis direction selection signal (+Jn, -Jn (where n = 1 to the number of controlled axes)) is

set to 1 for the rotation axis to be rotated.
Ex.) When the B-axis (4th axis) is rotated

- +J4: Tool tip center rotation feed +
- -J4: Tool tip center rotation feed -

Feedrate

Control is exerted so that the synthetic speed of the linear axes (in the tangential direction) is the dry run
rate (parameter No. 1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate of a rotation axis is the jog feedrate
(parameter No. 1423) of the axis to be rotated. The manual feedrate override feature is available.

Feedrate clamp

3.8.3.3

Selection of the tool length offset value

The tool length in 3-dimensional manual feed is determined as explained below. (Table 3.8.3.3)
If bit 2 (LOD) of parameter No. 19746 is set to 0, the value set in parameter No. 12318 is assumed to be
the tool length.
If the LOD parameter is set to 1, and the tool length offset function is performed, the offset data specified
for the tool length offset is assumed to be the tool length.
If the LOD parameter is set to 1, and the tool length offset function is not performed, the tool length is
determined as follows. If bit 3 (LOZ) of parameter No. 19746 is set to 0, the value set in parameter No.
12318 is assumed to be the tool length in 3-dimensional manual feed; if LOZ is set to 1, the tool length is
assumed to be 0.

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Table 3.8.3.3 Tool length offset value in 3-dimensional manual feed

Bit 2 (LOD) of parameter No.19746

= 0

= 1

Tool length offset enabled

Tool length offset canceled

Bit 3 (LOZ) of

parameter No. 19746

= 0

Parameter

No. 12318

Offset data

Parameter No. 12318

= 1

The tool length offset function is enabled when the following two conditions are both satisfied:
-

The tool length offset function listed below is enabled (modal code of group 8 is except G49)
- G43/G44

: Tool length compensation

- The H/D code is other than 0.

If bit 6 (CLR) of parameter No. 3402 is set to 0 not to clear the tool length offset vector, G codes of group
8, and H codes at the time of a reset, the tool length offset status is maintained when a reset is made in the
tool length offset mode.

3.8.4

Table Vertical Direction Handle Feed/Table Vertical Direction
JOG Feed/Table Vertical Direction Incremental Feed

Overview

In the table vertical direction handle feed, table vertical direction JOG feed, and table vertical direction
incremental feed, the tool is moved in the table vertical direction.

Table vertical direction

The table vertical direction is a direction vertical to the table. It is equal to the tool axis direction specified
in parameter No. 19697 when all of the rotation axes for controlling the table are at a an angle of 0 degree.
When the rotation axes for controlling the table rotate, the table vertical direction changes according to
the rotation axis angle.

Table vertical direction

Fig. 3.8.4 Table vertical direction

Table-based vertical direction feed in the tilted working plane indexing mode

If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of the table-based vertical direction
feed in the tilted working plane indexing mode is assumed to be the Z direction in the feature coordinate
system of the tilted working plane indexing.

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3.8.4.1

Table vertical direction handle feed

The table vertical direction handle feed is enabled when the following four conditions are satisfied:
<1> Handle mode is selected.
<2> Both the tool axis direction feed mode signal ALNGH and the table base signal TB_BASE are set to

<3> The state of the first manual handle feed axis selection signals (HS1A to HS1E) to make the table

vertical handle feed mode effective is set in parameter No. 12310.

<4> The value of parameter No. 12310 matches the first manual handle feed axis selection signals (HS1A

to HS1E).

Amount of movement

When the manual pulse generator is rotated, the tool is moved in the table vertical direction by the amount
of rotation.

Feedrate clamp

The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse
rate (parameter No. 1424). Handle pulses generated while the clamp feedrate is exceeded are ignored.
If manual handle feed maximum feedrate change signal HNDLF<Gn023.3> is "1", clamping is performed
by the maximum handle feedrate (parameter No. 1434).

3.8.4.2

Table vertical direction JOG feed/table vertical direction
incremental feed

The table vertical direction JOG feed or table vertical direction incremental feed is enabled when the
following three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.
<2> Both the tool axis direction feed mode signal ALNGH and the table base signal TB_BASE are set to

<3> The feed axis direction selection signal [+Jn,-Jn (where n = 1 to the number of controlled axes)] is

set to 1 for the axis corresponding to the direction specified by parameter No. 19697.
Ex.) Parameter No. 19697 = 3 (+Z-axis direction); Z-axis is the 3rd axis of control axes.

- +J3: Table vertical direction +
- -J3: Table vertical direction -

Feedrate

Feedrate clamp

The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse
rate (parameter No. 1424).

3.8.5

Table Horizontal Direction Handle Feed/Table Horizontal
Direction JOG Feed/Table Horizontal Direction Incremental
Feed

Overview

In the table horizontal direction handle feed, table horizontal direction JOG feed, and table horizontal
direction incremental feed, the tool is moved in the table horizontal direction.

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If bit 1 (FLL) of parameter No. 12320 is set to 1, the tool or table is moved in the latitude or longitude
direction determined by the table-based vertical direction vector.

Table horizontal direction

There are two table horizontal directions, which are perpendicular to the table vertical direction (see the
previous section).

Table 3.8.5 (a) Table horizontal direction

Parameter No. 19697

Table horizontal direction 1

Table horizontal direction 2

1 (The reference tool direction is +X.)

+Y direction

+Z direction

2 (The reference tool direction is +Y.)

+Z direction

+X direction

3 (The reference tool direction is +Z.)

+X direction

+Y direction

Table 3.8.5 (a) shows the table horizontal directions that may be taken when the angles of all the rotation
axes for controlling the table are 0 degree.
As the rotation axes for controlling the table rotate, the table horizontal direction changes according to the
rotation axis angle.

Table horizontal direction 2

Table horizontal direction 1

Fig. 3.8.5 (a) Table horizontal direction

(Example) When the table rotation axis is the B-axis, and the table vertical

direction is the Z-axis direction

Table horizontal direction 2

Table horizontal
direction 1

Table vertical direction

Fig. 3.8.5 (b) Example of table horizontal direction

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