FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 276

12. PROGRAM COMMAND

B-64693EN-1/01

- 2162 -

When the bit 5 (AX1) of parameter No. 11600 is set to 1:

The command in (1) converts the coordinates before the coordinate system rotation
command, (X10,Y10), into the coordinates (X'14.142,Y'0) in the coordinate system
rotated by 45 degrees (X'Y'). Then, the tool moves to the specified position
(X'14.142,Y'14.142), i.e., the movement position (X0,Y20).

Coordinates in the coordinate
system after rotation
: X'14.142,Y'0

Coordinates before the coordinate
system rotation command
: X10,Y10

45
degrees

●

Specified position
: X'14.142,Y'14.142
Movement position
: X0,Y20

Conversion

Tool path

11630

FRD

[Input type] Parameter input

[Data type] Bit path

#0 FRD

The minimum command unit of the rotation angles of coordinate rotation and

3-dimensional coordinate system conversion is:
0:

0.001 degree.

0.00001 degree. (1/100,000)

Alarm and message

Number

Message

Description

PS0144

ILLEGAL PLANE SELECTED

The coordinate rotation plane and arc or tool radius

⋅

tool nose radius

compensation plane must be the same. Modify the program.

PS0412

ILLEGAL G CODE

During coordinate system rotation, the G code for reference position
return (G27, G28, G29, G30) or coordinate system setting (G52 to
G59, G92), is specified. Before specifying any of them, cancel the
coordinate system rotation mode.

PS0509

TOOL OFFSET COMMAND IS
NOT AVAILABLE

- Tool offset (for the lathe system) was specified in the thread

cutting block.

- Tool offset was specified (lathe system) in the coordinate system

rotation mode, or programmable mirror image mode.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Coordinate system rotation

B-64693EN-1/01

12. PROGRAM COMMAND

- 2163 -

Limitation

R-specified arc

When an R-specified arc is specified after beginning the coordinate system rotation mode, please specify
the command to the start point by the absolute commands in the previous block.

Specifying during AI high-precision contour control mode or 3-dimensional
coordinate system conversion mode

Coordinate system rotation can always be specified for the M series and can be specified for the T series
only when the G code system B or C is used.

Tool offset

If tool offset by shifting the coordinate system is specified (by setting bit 2 (LWT) of parameter No. 5002
to 1 or bit 4 (LGT) of parameter No. 5002 to 0) in the coordinate system rotation mode, alarm PS0509,
“TOOL OFFSET COMMAND IS NOT AVAILABLE”, will occur.
The same alarm will occur if a tool compensation value is modified by setting bit 6 (EVO) of parameter
No. 5001.

Caution

CAUTION

Before specifying the G code for reference position return (G27, G28, G29, G30)
or coordinate system setting (G52 to G59, G92), cancel the coordinate system
rotation mode. If any of them is specified during coordinate system rotation
mode, alarm PS0412, “AN UNUSABLE G CODE WAS USED”, will occur.

12.15

3-DIMENSIONAL COORDINATE CONVERSION

Overview

The coordinate system can be rotated about an arbitrary axis by specifying the center of rotation, direction
of the axis of rotation, and angular displacement.
This coordinate conversion function is quite useful for 3-dimensional machining on a diesinking machine.
By applying this conversion to a program generated for machining on the XY plane, identical machining
can be executed on the desired plane.
When rigid tapping is commanded in 3-dimensional coordinate conversion mode, tapping can be done at
the angle specified by a 3-dimensional coordinate conversion command. (This is called 3-dimensional
rigid tapping.)

12. PROGRAM COMMAND

B-64693EN-1/01

- 2164 -

Three-dimensional
coordinate
conversion

Explanation

Rapid traverse in a canned cycle for drilling

By using bit 1 (D3R) of parameter No. 11221, rapid traverse in the drilling direction in a canned cycle for
drilling in the tilted working plane indexing mode or 3-dimensional coordinate conversion mode can be
selected and the rapid traverse mode for shift operation in fine boring (G76) or back boring (G87) for the
M system can also be selected. When D3R is set to 0, the cutting feed mode is selected; when it is set to 1,
the rapid traverse mode is selected. For positioning to the initial level at the start of a canned cycle for
drilling, however, the rapid traverse mode is used, regardless of whether D3R is set to 0 or 1. Rapid
traverse override can be applied in the rapid traverse mode, and cutting feed override can be applied in the
cutting feed mode. D3R can also be used to change the mode of rapid traverse in the rigid tapping
direction.

For acceleration/deceleration after interpolation

When bit 1 (D3R) of parameter No. 11221 is set to 1 (for the rapid traverse mode), rapid traverse in
the drilling direction in a canned cycle for drilling in the tilted working plane indexing mode or
3-dimensional coordinate conversion mode is accelerated/decelerated along each axis independently
according to the time constants specified in parameters Nos. 1620 and 1621. So, when performing
positioning of linear interpolation type with D3R set to 1, make the following settings:

Bit 1 of (LRP) of parameter No. 1401=1 Selects positioning of linear interpolation type.

Bit 1 of (PRT) of parameter No. 1603=1 Selects acceleration/deceleration of constant time type.

Parameter No. 1620

Set the same value for all.

Parameter No. 1621

Set the same value for all.

For look-ahead acceleration/deceleration before interpolation

In a canned cycle for drilling, linear rapid traverse in the drilling direction is performed at all times.

Feedrate

When bit 1 (D3R) of parameter No. 11221 is set to 1 (for the rapid traverse mode), the rapid traverse
rate in the drilling direction in a canned cycle for drilling in the tilted working plane indexing mode
or 3-dimensional coordinate conversion mode is clamped to a parameter value indicated below if the
rapid traverse override is 100%. In the rapid traverse override F0 mode, however, the rapid traverse
rate is clamped to the value of parameter No. 1421 or a parameter value listed in Table 12.15 (a),
whichever smaller.

B-64693EN-1/01

12. PROGRAM COMMAND

- 2165 -

Table 12.15 (a) Feedrate in the rapid traverse mode

Parameter No. 5412=0

Parameter No. 1420

Parameter No. 5412

≠

Value of parameter No. 1420 or value of parameter 5412, whichever smaller

However, when the external deceleration function is enabled, the feedrate is clamped to a parameter
value listed in Table 12.15 (a) that is overridden or an external deceleration speed, whichever
smaller.

NOTE

1 Set a rapid traverse rate for each axis in parameter No. 1420 and a tangential

rapid traverse rate in parameter No. 5412.

2 If rapid traverse of nonlinear interpolation type is performed, the feedrate is

clamped to the value of parameter No. 1420, regardless of the setting of
parameter No. 5412.

3 When the cutting feed mode is selected (when bit 1 (D3R) of parameter No.

11221 is set to 0), set a tangential rapid traverse rate in parameter No. 5412.

Cutting feedrate clamp

The cutting feedrate is clamped so that the feedrate of each real axis after the 3-dimensional coordinate
system conversion does not exceed the maximum cutting feedrate

（

Parameter No.1432 if look-ahead

acceleration/deceleration before interpolation is enabled and parameter No.1430 otherwise).

Interlock signal for each axis direction, interlock signal for each axis, external
deceleration signal

When bit 2 (D3IT) of parameter No.11600 is set to 1 and bit 5 (ITM) of parameter No.11223 is set to 1,
the following signals are enabled for axis of machine coordinate system.
- Interlock signal for each axis direction during manual intervention / manual handle interrupt in

3-dimensional coordinate system conversion mode

- Interlock signal for each axis during manual intervention / manual handle interrupt in 3-dimensional

coordinate system conversion mode

- External deceleration signal during manual intervention / manual handle interrupt in 3-dimensional

coordinate system conversion mode

- External deceleration signal during 3-dimensional coordinate conversion
By this setting, all signals of controlled axis type are enabled for axis of machine coordinate system
during 3-dimensional coordinate conversion.

Table12.15 (b) Relationship between coordinate system of target axis of each signal during 3-dimensional

coordinate conversion (automatic operation) and parameter setting

D3IT

ITM

Interlock for each axis

direction

Interlock for each axis

External deceleration

Programming coordinate

system

Interlock all X, Y, Z-axis

Programming coordinate

system

Machine coordinate system

Programming coordinate

system

Machine coordinate system

12. PROGRAM COMMAND

B-64693EN-1/01

- 2166 -

Table12.15 (c) Relationship between coordinate system of target axis of each signal during manual

intervention / manual handle interrupt in 3-dimensional coordinate system conversion mode and parameter

setting

D3IT

ITM

Interlock for each axis

direction

Interlock for each axis

External deceleration

Programming coordinate

system

Programming coordinate

system

Programming coordinate

system

Programming coordinate

system

Programming coordinate

system

Programming coordinate

system

Machine coordinate system

Reset

If a reset occurs during 3-dimensional coordinate system conversion mode, the mode is canceled and the
continuous-state G code is changed to G69. Bit 2 (D3R) of parameter No. 5400 determines whether just
the G69 code is used to cancel the 3-dimensional coordinate system conversion mode (G68). When this
setting is selected, a CNC reset by a reset operation or by an input signal from the PMC will not cancel
the 3-dimensional coordinate system conversion mode.

System variables of skip positions

System variable number and coordinate system of skip are as Table. The coordinate system of #100151-
and #151001- changes according to bit 5 (LV3) of parameter No.5400.

Table12.15 (d) Parameter LV3 and coordinate system of skip positions

System variable

number

Coordinate system of skip positions

Parameter LV3=0

Parameter LV3=1

#100151 -

Workpiece coordinate system

Program coordinate system

#151001 -

Program coordinate system

Workpiece coordinate system

#151101 -

Machine coordinate system

Program restart

If the block subject to a restart is in 3-dimensional coordinate conversion mode G68 (machining center
system)/G68.1 (lathe system), it is possible to select whether the movement of the axes to the restart
position should be in the program coordinate system or the workpiece coordinate system, by using bit 1
(3DD) of parameter No.7301. If parameter bit 3DD is 0, the axes move to the restart position one at a
time, as seen from the program coordinate system, and if it is 1, they move to the restart position one at a
time, as seen from the workpiece coordinate system.
The "DESTINATION" and "DISTANCE TO GO" displays follow the setting of 3DD.
The "ABSOLUTE" display follows the bit 6 (DAK) of parameter No.3106.

3-dimensional coordinate system conversion during tool length compensation

By setting bit 3 (TLC) of parameter No. 11221 to 1, 3-dimensional coordinate system conversion can be
used during tool length compensation. In this case, the tool length compensation vector is converted to the
program coordinate system subject to 3-dimensional coordinate system conversion. This makes
machining possible while keeping the tool direction to the Z-axis direction of the workpiece coordinate
system.
Tool length compensation and 3-dimensional coordinate system conversion must be nested inside each
other.

B-64693EN-1/01

12. PROGRAM COMMAND

- 2167 -

(Example)

- Constant surface speed control

Constant surface speed control is exercised by using as the reference the following axis according to bit 6
(3CS) of parameter No.11221. (Refer to the explanation of “CONSTANT SURFACE SPEED
CONTROL" for details)
-

3CS=0 : the machine axis specified in address P in a G96 block or the machine axis (in the actually

operating workpiece coordinate system) set in parameter No.3770.

3CS=1 : the axis in the feature coordinate system

- Angular displacement R

A positive angular displacement R indicates a clockwise rotation along the axis of rotation. Specify
angular displacement R in 0.001 degrees within the range of -360000 to 360000.
To specify angular displacement R in 0.00001 degrees (one hundred-thousandth), set bit 0 (FRD) of
parameter No.11630 to 1. In this case, angular displacement R is specified within the range of -36000000
to 36000000.

Limitation

Manual reference position return

An attempt to make a manual reference position return during the 3-dimensional coordinate conversion
mode results in alarm PS5324, “REFERENCE RETURN INCOMPLETE”, being issued. Before
attempting to make a manual reference position return, cancel the 3-dimensional coordinate conversion
mode

Positioning by optimum accelerations

The function for positioning by optimum accelerations is disabled during the 3-dimensional coordinate
system conversion mode.

Relationship between 3-dimensional coordinate system conversion and tool
offset

When using a tool offset command, nest the tool offset command within the 3-dimensional coordinate
system conversion mode.
(Example)

N10 G43 H1 X_ Y_ Z_ ;

N20 G68 X0 Y0 Z0 I0.0 J1.0 K0.0 R-30.0 ;

G69 ;

G49 X_ Y_ Z_ ;

Workpiece coordinate
system

Z’

X’

Program coordinate
system

N10

N20

Tool length
compensation vector

12. PROGRAM COMMAND

B-64693EN-1/01

- 2168 -

G68.1 X100.0 Y100.0 Z100.0 I0.0 J0.0 K1.0 R45.0 ;
  :
T0101;
  :
T0100;
  :
G69.1 ;

When tool geometry and wear compensation with coordinate shift is enabled and it is not canceled by
reset, if tool geometry and wear compensation is executed in 3-dimensional coordinate system conversion
mode, 3-dimensional coordinate system conversion is not canceled by reset. (Even if it is a setting that
3-dimensional coordinate system conversion is canceled by reset (parameter D3R(No.5400#2)=0), it is
not canceled.)

PMC axis control

If a command related to 3-dimensional coordinate conversion is specified during PMC axis control, the
alarm PS5131 is issued.

Signal

3-dimensional coordinate system conversion manual interruption switch signal

M3R<Gn031.3>

[Classification] Input signal

[Function] Specifies whether to apply 3-dimensional coordinate system conversion to a manual

operation (manual continuous feed, manual incremental feed, or manual handle feed) in
the 3-dimensional coordinate conversion mode.

[Operation] When this signal is set to 0, 3-dimensional coordinate system conversion is not applied

(the workpiece coordinate system is used).
When this signal is set to 1, 3-dimensional coordinate system conversion is applied (the
program coordinate system is used).

3-dimensional coordinate conversion mode signal D3ROT<Fn062.6>

[Classification] Output signal

[Function] Posts whether the 3-dimensional coordinate conversion mode is set.

[Output cond.] When this signal is set to 1, the 3-dimensional coordinate conversion mode is set.

Signal address

Gn031

M3R

Fn062

D3ROT

Parameter

Setting relative position and absolute position

3104

DAC

DAL

DRL

[Input type] Parameter input

[Data type] Bit path

#4 DRL

Relative position

The actual position displayed takes into account tool length offset.

The programmed position displayed does not take into account tool length offset.

B-64693EN-1/01

12. PROGRAM COMMAND

- 2169 -

#6 DAL

Absolute position

The actual position displayed takes into account tool length offset.

The programmed position displayed does not take into account tool length offset.

NOTE

In lathe systems, whether to exclude a tool offset when displaying
the absolute position is determined by the setting of bit 1 (DAP) of
parameter No. 3129.

#7 DAC

When an absolute position are displayed:

Values not excluding the amount of travel based on cutter compensation and tool
nose radius compensation are displayed.

Values excluding the amount of travel based on cutter compensation and tool nose
radius compensation (programmed positions) are displayed.

NOTE

When the parameter DAC is set to 1, in a command such as circle
interpolation where the cutter compensation vector is changed
constantly, an absolute position is not correctly displayed during its
interpolation except its start point and its end point.

Setting absolute coordinates in the 3-dimensional coordinate conversion
mode

3106

DAK

[Input type] Setting input

[Data type] Bit

#6 DAK

Specifies whether to display coordinates in the program coordinate system or workpiece

coordinate system as absolute coordinates when the 3-dimensional coordinate conversion
mode or the tilted working plane indexing mode is set.
0:

Display coordinates in the program coordinate system.

Display coordinates in the workpiece coordinate system.

5007

3OF

3OC

[Input type] Parameter input

[Data type] Bit path

#6 3OC

If tool length compensation is not cancelled before 3-dimensional coordinate conversion

is specified, an alarm is:
0:

Not raised.

Raised. (Alarm (PS0049) “ILLEGAL COMMAND(G68,G69)”)

#7 3OF

If 3-dimensional coordinate conversion is not nested with a command for tool length

compensation, or if 3-dimensional coordinate conversion is specified during tool length
compensation and another command for tool length compensation is specified:
0:

No alarm is issued.

The alarm (PS0049) “ILLEGAL COMMAND(G68,G69)” is issued.

Content .. 274 275 276 277 ..