FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 95

21.AXIS CONTROL FUNCTIONS

PROGRAMMING

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Explanation

Synchronous control

Synchronous control is performed with the G51.4/G50.4 commands,
instead of simultaneously controlled axis selection signals.

Parameter setting examples for a 3-path system

•

Parameter

No.12600

Path 1

Path 2

Path 3

101 201 301

102 202 302

•

Parameter

No.8180

Path 1

Path 2

Path 3

0 0 0

0 102 102

•

Program example (M100 to M103 are synchronization M codes.)

Path 1

Path 2

Path 3

Operation

N10 M100 P123 ;

M100 P123 ;

Synchronization between paths 1, 2, and 3

N20 G51.4 P102 Q202 ;
N30 G51.4 P102 Q302 ;

Start of Z1-Z2 synchronous control
Start of Z1-Z3 synchronous control

N40 M101 P123 ;

M101 P123 ;

Synchronization between paths 1, 2, and 3

N50 G00 Z100.;

Synchronous
slave movement

Z1-Z2 and Z1-Z3 synchronous control

N60 M102 P123 ;

M102 P123 ;

Synchronization between paths 1, 2, and 3

N70 G50.4 Q202 ;
N80 G50.4 Q302 ;

Cancellation of Z1-Z2 synchronous control
Cancellation of Z1-Z3 synchronous control

N90 M103 P123 ;

M103 P123 ;

Synchronization between paths 1, 2, and 3

- Start of synchronous control

N20 G51.4 P102 Q202 : Start of synchronous control with the Z1-axis
being a master axis and the Z2-axis being a slave axis
N30 G51.4 P102 Q302 : Start of synchronous control with the Z1-axis
being a master axis and the Z3-axis being a slave axis

- Cancellation of synchronous control

N70 G50.4 Q202 : Cancellation of synchronous control with the
Z1-axis being a master axis and the Z2-axis being a slave axis
N80 G50.4 Q302 : Cancellation of synchronous control with the
Z1-axis being a master axis and the Z3-axis being a slave axis

- Parking

Use the L command to specify the start and cancellation of the parking
of synchronous axes.
If the L command is omitted or if the L0 command is issued, the
parking of both synchronous master axis and synchronous slave axis is
canceled.

- Parameter check

If the axis number corresponding to the P specified with G51.4 is not
set in slave axis parameter No. 8180, alarm PS5339 is issued.

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PROGRAMMING

21.AXIS CONTROL FUNCTIONS

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Composite control

Composite control is performed with the G51.5/G50.5 commands,
instead of composite control axis selection signals.

Parameter setting examples for a 3-path system

•

Parameter

No.12600

Path 1

Path 2

Path 3

101 201 301

102 202 302

•

Parameter

No.8183

Path 1

Path 2

Path 3

0 101 0

0 102 0

•

Program example (M100 to M103 are synchronization M codes.)

Path 1

Path 2

Path 3

Operation

N10 M100 P12 ;

M100 P12 ;

Synchronization between paths 1 and 2

N20 G51.5 P101 Q201 ;
N30 G51.5 P102 Q202 ;

Start of X1-X2 composite control
Start of Z1-Z2 composite control

N40 M101 P12 ;

M101 P12 ;

Synchronization between paths 1 and 2

N50 G00 X 100. Z100.;

Composite
movement

X1-X2 and Z1-Z2 composite control

N60 M102 P12 ;

M102 P12 ;

Synchronization between paths 1 and 2

N70 G50.5 P101 Q201 ;
N80 G50.5 P102 Q202 ;

Cancellation of X1-X2 composite control
Cancellation of Z1-Z2 composite control

N90 M103 P12 ;

M103 P12 ;

Independent

operation

Synchronization between paths 1 and 2

- Start of composite control

N20 G51.5 P101 Q201 : Start of composite control on the X1- and
X2-axes
N30 G51.5 P102 Q202 : Start of composite control on the Z1- and
Z2-axes

- Cancellation of composite control

N70 G50.5 P101 Q201 : Cancellation of composite control on the X1-
and X2-axes
N80 G50.5 P102 Q202 : Cancellation of composite control on the Z1-
and Z2-axes

- Parameter check

If the composite control axis corresponding to the P or Q specified
with G51.5/G50.5 is not set in parameter No. 8183, alarm PS5339 is
issued.

21.AXIS CONTROL FUNCTIONS

PROGRAMMING

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Superimposed control

Superimposed control is performed with the G51.6/G50.6 commands,
instead of superimposed control axis selection signals.

Parameter setting examples for a 3-path system

•

Parameter

No.12600

Path 1

Path 2

Path 3

101 201 301

102 202 302

•

Parameter

No.8186

Path 1

Path 2

Path 3

0 0 0

0 0 102

•

Program example (M100 to M103 are synchronization M codes.)

Path 1

Path 2

Path 3

Operation

N10 M100 P13 ;

M100 P13 ;

Synchronization between paths 1 and 3

N20 G51.6 P102 Q302 ;

Start of Z1-Z3 superimposed control

N30 M101 P13 ;

M101 P13 ;

Synchronization between paths 1 and 3

N40 G00 Z100.;

G00 Z-200.;

Z1-Z3 superimposed control
(Z+100 superimposed on Z3)

N50 M102 P13 ;

M102 P13 ;

Synchronization between paths 1 and 3

N60 G50.6 Q302 ;

Cancellation of Z1-Z3 superimposed control

N70 M103 P13 ;

Independent

operation

M103 P13 ;

Synchronization between paths 1 and 3

- Start of superimposed control

N20 G51.6 P102 Q302 : Start of superimposed control with the
Z1-axis being a master axis and the Z3-axis being a slave axis

- Cancellation of superimposed control

N60 G50.6 Q302 : Cancellation of superimposed control with the
Z1-axis being a master axis and the Z3-axis being a slave axis

- Parameter check

If the axis number corresponding to the P specified with G51.6 is not
set in superimposed slave axis parameter No. 8186, alarm PS5339 is
issued.

NOTE

1 If G codes (G50.4/G50.5/G50.6) for canceling synchronous,

composite, and superimposed control with program commands
are issued for axes under synchronous, composite, and
superimposed control with DI signals, synchronous, composite,
and superimposed control is canceled.

2 If the synchronous control axis selection signal, composite

control axis selection signal, and superimposed control axis
selection signal are changed from '1' to '0' for axes under
synchronous, composite, and superimposed control with
program commands, synchronous, composite, and
superimposed control is canceled.

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21.4

ROTARY AXIS ROLL-OVER

The roll-over function prevents coordinates for the rotary axis from
overflowing. The roll-over function is enabled by setting bit 0 (ROAx)
of parameter No. 1008 to 1.

21.4.1

Rotary Axis Roll-over

Explanation

For an incremental programming, the tool moves the angle specified
in the command. For an absolute programming, the coordinates after
the tool has moved are values set in parameter No. 1260, and rounded
by the angle corresponding to one rotation. The tool moves in the
direction in which the final coordinates are closest when bit 1 (RABx)
of parameter No. 1008 is set to 0. Displayed values for relative
coordinates are also rounded by the angle corresponding to one
rotation when bit 2 (RRLx) of parameter No. 1008 is set to 1.

Example

Assume that axis A is the rotary axis and that the amount of
movement per rotation is 360.000 (parameter No. 1260 = 360000).
When the following program is executed using the roll-over function
of the rotary axis, the axis moves as shown below.

G90 A0 ;

Sequence

number

Actual

movement value

Absolute coordinate

value after

movement end

N1 G90 A-150.0 ;

-150

210

N2 G90 A540.0 ;

-30

180

N3 G90 A-620.0 ;

-80

100

N4 G91 A380.0 ;

+380

120

N5 G91 A-840.0 ;

-840

Relative
coordinate value

Absolute
coordinate value

-720

-0

-360

-0

360

-0

210

(Absolute)

180

100

120

NOTE

This function cannot be used together with the
index table indexing function.

21.AXIS CONTROL FUNCTIONS

PROGRAMMING

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21.4.2

Rotary Axis Control

This function controls a rotary axis as specified by an absolute
command.
With this function, the sign of the value specified in the command is
interpreted as the direction of rotation, and the absolute value of the
specified value is interpreted as the coordinates of the target end
position.

Explanation

This function is valid when rotary axis roll-over is enabled (bit 0
(ROAx) of parameter No. 1008 is set to 1).
If bit 3 (RAAx) of parameter No.1007 is set to 1, an absolute
command specified for the roll-over rotary axis is interpreted as
follows: The sign and absolute value of the value specified in the
command represent the direction of rotation and the end position of
movement respectively.
If bit 3 (RAAx) of parameter No.1007 is set to 0, the setting by bit 1
(RABx) of parameter No.1008 becomes significant.

NOTE

1 This function can be used only when the

corresponding option is provided. (When a
machining center system is used, this function
cannot be used together with the index table
indexing function.)

2 This function is valid for a roll-over rotary axis.
3 If bit 3 (RAAx) of parameter No.1007 is set to 1, bit

1 (RABx) of parameter No.1008 is ignored. To
select a rotary motion of a shorter travel distance,
set both RAAx and RABx to 0.

4 This function is not supported when the machine

coordinate system of the PMC axis control function
is selected.

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PROGRAMMING

21.AXIS CONTROL FUNCTIONS

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21.5

ARBITRARY ANGULAR AXIS CONTROL

Overview

When the angular axis installed makes an angle other than 90

with

the perpendicular axis, the Arbitrary angular axis control function
controls the distance traveled along each axis according to the
inclination angle as in the case where the angular axis makes 90

with

the perpendicular axis.
Arbitrary axes can be specified as a set of an angular axis and
perpendicular axis by parameter setting.
The actual distance traveled is controlled according to an inclination
angle.    However, a program, when created, assumes that the angular
axis and perpendicular axis intersect at right angles.    The coordinate
system used at this time is referred to as the program coordinate
system.    (The program coordinate system may be referred to as the
Cartesian coordinate system, and the actual move coordinate system
may be referred to as the angular coordinate system or machine
coordinate system.)

+Y'(Hypothetical axis)

+Y'(Angular axis)

: Inclination angle

+X(Perpendicular axis)

Program coordinate system

(Cartesian coordinates)

Machine coordinate system

(Angular coordinates)

+Y'

Fig. 21.5 (a)

Explanation

When the amounts of travel along the angular axis and the
perpendicular axis are Ya and Xa, respectively, the amounts are
controlled according to the formulas shown below.

Ya =

cos

: Actual distance

: Programmed distance

The amount of travel along the perpendicular axis is corrected by the
influence of travel along the angular axis, and is determined by the
following formula:

Xa = Xp – C

tan

NOTE

The coefficient C is 2 in the case of diameter
specification for the perpendicular axis (X) or 1 in
the case of radius specification.

21.AXIS CONTROL FUNCTIONS

PROGRAMMING

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+Y (Angular axis)

+Y' (Hypothetical axis)

Yp tan

(perpendicular axis

component produced by

travel along the angular axis)

Xp and Yp

Xa and Ya

Actual tool travel

+X (Perpendicular axis)

Fig. 21.5 (b)

- Feedrate

When the Y-axis is an angular axis, and the X-axis is a perpendicular
axis, the feedrate along each axis is controlled as described below so
that the feedrate in the tangent direction becomes Fp.
The feedrate component along the Y-axis is determined by the
following expressions:

Fay =

cos

represents the actual feedrate.

represents a programmed feedrate.

Fax = Fp – Fp

tan

- Absolute and relative position display

An absolute and a relative position are indicated in the programmed
Cartesian coordinate system.

- Machine position display

A machine position indication is provided in the machine coordinate
system where an actual movement is taking place according to an
inclination angle.

Method of use

The angular and perpendicular axes for which arbitrary angular axis
control is to be applied must be specified beforehand, using
parameters Nos. 8211 and 8212. When 0 is set in one of the
parameters, the same number is specified in the parameters, or a
number other than the controlled axis numbers is specified in a
parameter, however, an angular axis and perpendicular axis are
selected according to the table below.

Angular axis

Perpendicular axis

M series

Y-axis of the basic three axes
(axis with 2 set in parameter
No. 1022)

Z-axis of the basic three axes
(axis with 3 set in parameter
No. 1022)

T series

X-axis of the basic three axes
(axis with 1 set in parameter
No. 1022)

Z-axis of the basic three axes
(axis with 3 set in parameter
No. 1022)

•

Bit 0 (AAC) of parameter No. 8200 enables or disables the

arbitrary angular axis control. If the function is enabled, the
distance traveled along each axis is controlled according to an
angular angle parameter No. 8210.

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PROGRAMMING

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•

By using bit 2 (AZR) of parameter No. 8200, whether to make a

movement along the perpendicular axis by a movement made along
the angular axis when a manual reference position return operation
is performed along the angular axis can be chosen. When a
movement along the perpendicular axis is enabled (AZR = 1), a
reference position return operation along the perpendicular axis can
be performed by a movement made along the angular axis.

•

By setting the normal axis/angular axis control invalid signal

NOZAGC to 1, angular axis control only for the angular axis can
be available. In this time the angular axis are converted to those
along the angular coordinate system without affecting commands
to normal axis.

Use this signal when operating each axis independently.

- Manual reference position return operation

A movement is made to the reference position (machine position) set
in parameter No. 1240. By using bit 2 (AZR) of parameter No. 8200,
whether to make a movement along the perpendicular axis when a
reference position return operation is performed along the angular axis
can be chosen.

- Automatic reference position return operation and floating reference position

return operation (G28, G30, G30.1)

A movement to the middle point along the angular axis affects a
movement along the perpendicular axis. As a movement from the
middle point to the reference position along the angular axis, a
selection can be made with bit 0 (ARF) of parameter No. 8209
between a Cartesian coordinate system operation (FS16

compatibility) and an angular coordinate system operation. If manual
reference position return operation is not performed even once after
the power is turned on, operation is performed in the same sequence as
for manual reference position return operation. So, specify
commands first for the angular axis then for the perpendicular axis.
Example 1)

When the Y-axis is an angular axis and the X-axis is a
perpendicular axis
(1) If the angular axis is first specified then the perpendicular

axis is specified, reference position return operation is
performed normally.

G28Y_;
G28X_;
(2) If the perpendicular axis is first specified then the angular

axis is specified, or if the perpendicular axis and the angular
axis are specified at the same time, alarm PS0372 is issued
when a movement is made along the perpendicular axis.

G28X_; or G28X_ Y_;
G28Y_;

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