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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 93

3. MANUAL OPERATION

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19697

Reference tool axis direction

[Input type] Parameter input

[Data type] Byte path

[Valid data range] 0 to 3

Set the tool axis direction in the machine coordinate system when the rotation axes for
controlling the tool are all at 0 degrees. Also, set the tool axis direction in the machine
coordinate system in a mechanism in which only the rotation axes for controlling the
table are present (there is no rotation axis for controlling the tool).
1:

Positive X-axis direction

Positive Y-axis direction

Positive Z-axis direction

When the reference tool axis direction is neither the X-, Y-, nor Z-axis direction, set the
reference direction in this parameter, then set appropriate angles as the reference angle
RA and reference angle RB (parameters Nos. 19698 and 19699).

19698

Angle when the reference tool axis direction is tilted (reference angle RA)

19699

Angle when the reference tool axis direction is tilted (reference angle RB)

[Input type] Parameter input

[Data type] Real path

[Unit of data] deg

[Min. unit of data] Depend on the increment system of the reference axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting

(When the increment system is IS-B, -999999.999 to +999999.999)
When the reference tool axis direction (parameter No. 19697) is set to 1, the tool axis is
tilted the RA degrees on the Z-axis from the positive X-axis direction to positive Y-axis
direction, then the tool axis is tilted the RB degrees on the X-axis from the positive
Y-axis direction to positive Z-axis direction.

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When the reference tool axis direction (parameter No. 19697) is set to 2, the tool axis is
tilted the RA degrees on the X-axis from the positive Y-axis direction to positive Z-axis
direction, then the tool axis is tilted the RB degrees on the Y-axis from the positive Z-axis
direction to positive X-axis direction.
When the reference tool axis direction (parameter No. 19697) is set to 3, the tool axis is
tilted the RA degrees on the Y-axis from the positive Z-axis direction to positive X-axis
direction, then the tool axis is tilted the RB degrees on the Z-axis from the positive X-axis
direction to positive Y-axis direction.

19700

Rotary table position (X-axis of the basic three axes)

19701

Rotary table position (Y-axis of the basic three axes)

19702

Rotary table position (Z-axis of the basic three axes)

[Input type] Parameter input

[Data type] Real path

[Unit of data] mm, inch (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set these parameters when parameter No. 19680 is set to 12 or 21. The vector from the
origin of the machine coordinate system to point A on the first rotation axis of the table is
set as the rotary table position in the machine coordinate system.

3. MANUAL OPERATION

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NOTE

As point A, set a position that is easy to measure on the first rotary
axis of the table.

Set a radius value.

If the rotary table is moved along the X-, Y-, or Z-axis or all of these
axes, set the position of the rotary table when the machine
coordinates of the X-, Y-, and Z-axes are all set to 0.

19703

Intersection offset vector between the first and second rotation axes of the table (X-axis of the basic

three axes)

19704

Intersection offset vector between the first and second rotation axes of the table (Y-axis of the basic

three axes)

19705

Intersection offset vector between the first and second rotation axes of the table (Z-axis of the basic

three axes)

[Input type] Parameter input

[Data type] Real path

[Unit of data] mm, inch (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set these parameters when the first rotation axis and second rotation axis of the table do
not intersect. These parameters are valid when parameter No. 19680 is set to 12. When
the rotation axes for controlling the table are all at 0 degrees, the vector from point A to
point B on the second rotation axis of the table is set as the intersection offset vector in
the machine coordinate system.

NOTE

As point B, set a position that is easy to measure on the second
rotary axis of the table.

Set a radius value.

19709

Intersection offset vector between the tool axis and tool rotation axis (X-axis of the basic three axes)

19710

Intersection offset vector between the tool axis and tool rotation axis (Y-axis of the basic three axes)

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19711

Intersection offset vector between the tool axis and tool rotation axis (Z-axis of the basic three axes)

[Input type] Parameter input

[Data type] Real path

[Unit of data] mm, inch (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set these parameters when the tool axis and tool rotation axis do not intersect.
These parameters are valid when parameter No. 19680 is set to 2 or 21.
If parameter No. 19680 is 21, set the vector from point D on the tool axis to point E
determined on the tool rotation axis as the intersection offset vector in the machine
coordinate system when the rotation axes for controlling the tool are all at 0 degrees.
If parameter No. 19680 is 2, set the vector from point D on the tool axis to point E
determined on the second rotation axis of the tool as the intersection offset vector in the
machine coordinate system when the rotation axes for controlling the tool are all at 0
degrees.

NOTE

Point D is determined by adding the tool length offset and tool
holder offset (parameter No. 19666) to the tool tip. As point E, set a
position that is easy to measure.

Set a radius value.

19712

Intersection offset vector between the second and first rotation axes of the tool (X-axis of the basic

three axes)

19713

Intersection offset vector between the second and first rotation axes of the tool (Y-axis of the basic

three axes)

19714

Intersection offset vector between the second and first rotation axes of the tool (Z-axis of the basic

three axes)

[Input type] Parameter input

[Data type] Real path

[Unit of data] mm, inch (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set these parameters when the rotation axes of the tool do not intersect.
These parameters are valid when parameter No. 19680 is set to 2.

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Set the vector from point E on the second rotation axis of the tool to point F on the first
rotation axis of the tool as the intersection offset vector in the machine coordinate system
when the rotation axes for controlling the tool are all at 0 degrees.

NOTE

As point F, set a position that is easy to measure.

Set a radius value.

19746

LOZ

LOD

[Input type] Parameter input

[Data type] Bit path

#2 LOD

As the tool length for 3-dimensional machining manual feed:

The value of parameter No. 12318 is used.

The tool length currently used for tool length compensation is used.

#3 LOZ

When bit 2 (LOD) of parameter No. 19746 is set to 1 and tool length compensation is not

applied, as the tool length for 3-dimensional machining manual feed:
0:

The value of parameter No. 12318 is used.

0 is used.

Note

NOTE

1 To perform a 3-dimensional handle feed, the manual handle feed function is

required. To perform a 3-dimensional handle interrupt, the manual handle
interrupt function is required.

2 When a 3-dimensional handle interrupt is performed, rotation axis command

execution must not be in progress in automatic operation.

3 When the manual reference position return mode is selected, 3-dimensional

manual feed is not enabled.

4 If interlock for each axis is enabled to at least one of 3-dimensional manual feed

axes, movement with manual feed is not performed.

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NOTE

5 When the offset value specified for the tool length offset function is used for tool

center point rotation feed (when bit 2 (LOD) of parameter No. 19746 is set to 1),
the controlled point should generally be shifted. (Set bit 5 (SVC) of parameter
No. 19665 to 1.)
In this case, specify the tool length with a radius value.

6 The feed direction of a 3-dimensional handle interrupt is updated as follows.

(a) When bit 7 (PRA) of parameter No. 12319 is set to 0

It is updated when one of the following operation is executed.

- The mode of NC (ex, MEM or HANDLE) is changed.

- Reset is executed.

- The state of manual handle interrupt axis selection signals (HS1IA to HS1ID

<Gn041.0 to 3>, HS1IE<Gn411.4> in case of manual pulse generator No.1)

is changed.

- 3-dimensional manual feed turns enabled or disabled.

(b) When bit 7 (PRA) of parameter No. 12319 is set to 1

It is always updated.

Alarm and message

No.

Message

Description

PS5459

MACHINE PARAMETER INCORRECT

A machine configuration parameters Nos.19665 to 19667
or Nos.19680 to 19744 is illegal.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

3-dimensional manual feed

4. REFERENCE POSITION ESTABLISHMENT

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REFERENCE POSITION ESTABLISHMENT

4.1

MANUAL REFERENCE POSITION RETURN

Overview

The tool is moved in the direction specified by bit 5 (ZMI) of parameter No. 1006 setting the feed axis
and direction select signal to 1 during manual reference position return mode. Movement will continue
until the reference position is obtained.
Manual reference position return is performed by using a grid method. The reference position is based on
an electrical grid, using on one-rotation signals received from the position detector.

The following signals relate with the manual reference position return:

Manual reference position return

Mode selection

MD1, MD2, MD4

Selection of reference position return

ZRN, MREF

Selection of axis to be moved

+J1, -J1, +J2, -J2, +J3, -J3, ...

Selection of direction to be moved
Selection of speed to be moved

ROV1, ROV2

Deceleration signals for reference position return

*DEC1, *DEC2, *DEC3, ...

Completion signals for reference position return

ZP1, ZP2, ZP3, ...

Reference position establishment signals

ZRF1, ZRF2, ZRF3, ...

Workpiece coordinate system setting/automatic coordinate system setting

When the workpiece coordinate system is enable (bit 0 (NWZ) of parameter No.8136 is 0), the workpiece
coordinate system is set upon the completion of manual reference position return.

When the workpiece coordinate system is disable (bit 0 (NWZ) of parameter No.8136 is 0), and bit 0
(ZPR) of parameter No. 1201 is set to 1, the coordinate system is preset automatically after the manual
reference position return.
Parameter 1250 can be used to set the workpiece coordinate system, upon the completion of reference
position return. The value set in the parameter sets the reference point of the tool holder or the tip position
of the reference tool.
This operation is performed as if the following command were specified at the reference position:

G92X

;

NOTE

Automatic coordinate system setting is not performed if the
workpiece coordinate system is enable (bit 0 (NWZ) of parameter
No.8136 is 0). In this case, manual reference position return always
establishes a workpiece coordinate system based on the workpiece
origin offsets, specified with parameters Nos. 1220 to 1226.

Explanation

Basic procedure for manual reference position return

<1> Select manual continuous feed (JOG) mode, and the manual reference position return selection

signal ZRN to 1.

<2> Feed a target axis toward the reference position by setting an appropriate feed axis and direction

selection signal (+J1, -J1, +J2, -J2,…) to 1.

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<3> While the feed axis and direction selection signal is 1, rapid traverse takes place along that axis.

Although the rapid traverse override signals (ROV1, ROV2) are valid, the override is generally set
to 100%.

<4> When the reference position is approached, a limit switch installed on the machine is activated,

making the deceleration signal for reference position (*DEC1, *DEC2, *DEC3,…) to 0.
Consequently, the feedrate is decelerated to 0, then the tool is fed at a constant low speed (reference
position return FL feedrate specified by parameter No. 1425 setting).

<5> When the deceleration signal returns to 1 again after the limit switch is passed, the tool is continues

to feed, until the tool stops at the first grid point (electric grid point).

<6> Upon confirmation that the current position is at the in-position area, the reference position return

end signal (ZP1, ZP2, ZP3,…) and the reference position establishment signal (ZRF1, ZRF2,
ZRF3,…) turn to 1.

These steps are repeated for each axis.
The number of simultaneously controlled axes is usually one, but it becomes three by setting bit 0 (JAX)
of parameter No. 1002.
If the feed axis direction selection signal (+J1, -J1, +J2, -J2,…) turns to 0 between step (2) and (5) , the
tool is stopped at once, and reference position return is canceled. If the signal turn to 1 again, operation
resumes from step (3) (rapid traverse).

The timing charts for the basic procedures are given below.

Rapid traverse rate

FL rate

. . . . . . . . . . . . . . . . . . .

JOG mode or
TEACH
IN JOG mode

ZRN

+J1

*DEC1

Grid

ZP1

ZRF1

Feedrate

NOTE

Grid is not a signal between PMC and CNC.

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