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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 282

12. PROGRAM COMMAND

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Z’

Y’

Workpiece
coordinate system

1st feature
coordinate system

Tool length vector

Tool center point

Control point

Z’’

Y’’

2nd feature coordinate system

Table

Fig. 12.16.3.2 (b) Operation of tool center point retention type tool axis direction control

(table rotation type)

Fig. 12.16.3.2 (c) and Fig. 12.16.3.2 (f) show tool center point retention type tool axis direction control
specified with end point of tool center point. Tool center point moves on the feature coordinate system
fixed on the workpiece.

O0012(TCP-HOLD-TYPE-TOOL_ROT)
G00 B0 C0
G5.1 Q1
G68.2 X0 Y0 Z0 I90.0 J45.0 K-90.0
G53.6 H1 X100.0 Y0 Z0 (G53.6 D1 X100.0 Y0 Z0 for the T series)

Control point

Tool length vector

Tool center
point

Workpiece
coordinate
system

Feature
coordinate
system

Fig. 12.16.3.2 (c) Operation of tool center point retention type tool axis direction control specified with end

point of tool center point (tool rotation type)

O0022(TCP-HOLD-TYPE-TABLE_ROT)
G00 B0 C0

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12. PROGRAM COMMAND

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G5.1 Q1
G68.2 X0 Y0 Z0 I90.0 J45.0 K-90.0
G53.6 H1 X0 Y0 Z0 (G53.6 D1 X0 Y0 Z0 for the T series)

Table

1st feature
coordinate system

2nd feature
coordinate
system

Fig. 12.16.3.2 (d) Operation of tool center point retention type tool axis direction control specified with end

point of tool center point (table rotation type)

Rotation center compensation with the tool center point retention type

In tool center point retention type tool axis direction control, the rotation center can be shifted from the
tool center point by specifying R.
Fig. 12.16.3.2 (e) and Fig. 12.16.3.2 (f) show cases in which the rotation center is shifted by specifying
the distance from the tool center point to the workpiece with R.
By specifying this, the tool moves so that it is perpendicular to the titled plane while retaining the rotation
center on the workpiece.
This function can be used by specifying G53.6 and specifying a tool length offset number with H (D for
the T series) and specifying the distance from the tool center point to the rotation center with R.

O0003(CENTER-OF-ROTATION-HOLD-TYPE)
G00 B0 C0
G5.1 Q1
G68.2 X0 Y0 Z0 I90.0 J45.0 K0
G53.6 H1 R200.0 (G53.6 D1 R200.0 for the T series)

12. PROGRAM COMMAND

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Control point

Tool length vector

Tool center point

Rotation center

Z’

Y’

Workpiece
coordinate system

Feature coordinate
system

r: Distance from the tool center point to the rotation center

Fig. 12.16.3.2 (e) Operation of rotation center compensation with tool center point retention type tool axis

direction control (tool rotation type)

Rotation
center

Z’

Y’

Workpiece
coordinate
system

1st feature
coordinate system

r: Distance from the tool center point to the rotation center

Tool length vector

Tool center point

Control point

Z’’

2nd feature coordinate system

Y’’

Table

Fig. 12.16.3.2 (f) Operation of rotation center compensation with tool center point retention type tool axis

direction control (table rotation type)

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12. PROGRAM COMMAND

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12.16.4

Tilted Working Plane Indexing in Tool Length Compensation

Overview

In tool length compensation (G43), G68.2/G68.4 (tilted working plane indexing) and G53.1 (tool axis
direction control)/G53.6 (tool center point retention type tool axis direction control) can be specified.
Accordingly, the G68.2/G68.4 and G53.1/G53.6 commands can be used without canceling tool length
compensation.

Explanation

G68.2/G68.4 command in tool length compensation

The G68.2/G68.4 command can be executed in tool length compensation.
Absolute coordinates after the G68.2/G68.4 command are based on the position of the tool center point on
the feature coordinate system.
When the tilted working plane indexing is executed with the tool or table tilted on the rotation axis,
absolute coordinates are based on the position of the tool center point with the position of the rotation
axis considered.
Accordingly, machining is allowed even when the tool axis direction is not the Z-axis direction on the
feature coordinate system.

Example of operation 1

N10 G69 ;
N20 G54

G43

H1 X0 Y0 Z0 ;

N30

G68.2

X_ Y_ Z_ I90. 0J-30.0 K-90.0 ; (rotation by -30 degrees about the Y-axis)

N40 X100.0 Y0 Z0 ;

G54

Feature coordinate

system

N30

N20

N40

Fig. 12.16.4 (a) Example of operation 1

Example of operation 2

N10 G69 ;
N20 G54

G43

H1 X0 Y0 Z0 B0 ;

N30 B20.0 ;
N40

G68.2

X_ Y_ Z_ I90.0 J-30.0 K-90.0 ; (rotation by -30 degrees about the Y-axis)

N50 X100.0 Y0 Z0 ;

12. PROGRAM COMMAND

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G54

N20

N50

N30

Feature coordinate

system

N40

Fig. 12.16.4 (b) Example of operation 2 (tool rotation type)

G54

N20

N30

G54

N20

N50

Specify the tilted
working plane in
the B0 state in
N40.

The feature coordinate system specified in N40 moves
according to the movement about the table rotation axis.

Feature coordinate

system

N40

Fig. 12.16.4 (c) Example of operation 2 (table rotation type)

Example of operation 3

N30

G43

X0 Y0 Z0 B20.0 ;

N40

G68.2

X_ Y_ Z_ I90.0 J-30.0 K-90.0 ; (rotation by -30 degrees about the Y-axis)

N50 X100.0 Y0 Z0 ;
N60 B-20.0
N70

G68.4

X_ Y_ Z_ I90.0 J40.0 K-90.0 ;

（

incremental multiple command: rotation by 40 degrees about

the Y-axis

）

N80 X100.0 Y0 Z0 ;

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12. PROGRAM COMMAND

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N80

N50

N60

Feature coordinate

system

N40

Feature coordinate

system

N70

Fig. 12.16.4 (d) Example of operation 3 (tool rotation type)

N60

N80

N50

Specify the tilted

working plane in the

B20 state in N70.

The feature coordinate system specified in N70 moves
according to the movement about the table rotation axis.

Feature coordinate

system

N70

Feature coordinate

system

N40

Fig. 12.16.4 (e) Example of operation 3 (table rotation type)

G53.1 command in tool length compensation

The G53.1 command can be executed in tool length compensation.
G53.1 operation in tool length compensation is performed in the same way as in the tool length
compensation cancel mode.
Absolute coordinates after the G53.1 command are based on the position of the tool center point on the
feature coordinate system after the G53.1 command is specified.

12. PROGRAM COMMAND

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Example of operation 4

N10 G54

G43

H1 X_ Y_ Z_ ;

N20

G68.2

X_ Y_ Z_ I90.0 J-30.0 K-90.0 ; (rotation by -30 degrees about the Y-axis)

N30

G53.1

;

N40 X100.0 Y0 Z0 ;

G54

N10

N40

N30

Feature coordinate

system

N20

Fig. 12.16.4 (f) Example of operation 4 (tool rotation type)

G54

N10

N30

G54

N40

Feature coordinate

system

N20

Second feature

coordinate system

N30

Fig. 12.16.4 (g) Example of operation 4 (table rotation type)

G53.6 command in tool length compensation

The G53.6 command can be executed in tool length compensation.
G53.6 operation in tool length compensation is performed in the same way as in the tool length
compensation cancel mode.

G69 command in tool length compensation

The G69 command can be executed in tool length compensation.
After G69 operation in tool length compensation, the tool length compensation vector represents the Z
direction of the workpiece coordinate system regardless of the position of the rotation axis.

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12. PROGRAM COMMAND

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Parameter

1205

3TW

[Input type] Parameter input

[Data type] Bit path

#6 3TW

When workpiece coordinate system selection is specified with G code in tilted working

plane indexing mode:
0:

The alarm PS5462, "ILLEGAL COMMAND (G68.2/G69)" is issued.

Workpiece coordinate system selection is executed.

CAUTION

When this parameter is 1, only G54 to G59 or G54.1 can be
specified. Specifying G52 or G92 causes alarm PS5462. Specifying
G54 to G59 or G54.1 suppresses buffering.

Program example
G90 G17
G54
G68.2 X_Y_Z_ I_ J_ K_
G53.1
G43H_
G55 X_Y_Z_
G56 X_Y_Z_
G57 X_Y_Z_
G49
G69

Machine
zero point

X_Y_Z_: Coordinate system zero point shift amount

G54

Coordinate

system zero

point shift

amount

Feature coordinate

system (G68.2)

G55

Coordinate

system zero

point shift

amount

G56

Coordinate

system zero

point shift

amount

G57

Coordinate

system zero

point shift

amount

Feature coordinate

system (G68.2)

Feature coordinate

system (G68.2)

Feature coordinate

system (G68.2)

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, the tilted working plane indexing mode is set.
0:

Display coordinates in the program coordinate system.

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