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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 103

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

- 780 -

- Circular interpolation for tool center point control (type 2)

G43.5

_ H_ Q_ ;

Starts tool center point control (type 2).

G17  : X-Y plane of the table coordinate system
G18  : Z-X plane of the table coordinate system
G19  : Y-Z plane of the table coordinate system
G02  : Clockwise (CW) circular interpolation
G03  : Counterclockwise (CCW) circular interpolation

: In the case of an absolute programming, the

coordinate value of the end point of the tool tip
movement

In the case of an incremental programming, the

amount of the tool tip movement

(This pertains only to two axes on the plane.)

I, J, K : Tool axis direction at the block end point as seen from

the programming coordinate system

: Arc radius R > 0: The center angle of the arc is less

than 180

R < 0: The center angle of the arc is

more than 180

: Specified speed (speed in the tangent direction of the

arc as seen from the table coordinate system)

: Tool offset number

: Inclination angle of the tool (in degrees)

Movement to the position specified by the G43.5 block does not
constitute tool center point control.    Only tool length compensation is
performed.
No rotary axes are specified.  Instead, the direction of the tool end
point is specified as I, J, K, as seen from the programming coordinate
system (the one fixed on the table when G43.5 is specified).
With a tool rotation type machine, I, J, K can be specified using the
G43.5 block.    In the case of a table rotation type or composite type
machine, however, these cannot be specified.    Specifying them with
a table rotation type or composite type machine causes alarm PS5421.
While performing interpolation for the rotary axes, the CNC controls
the control points so that the tool center point moves along an arc with
respect to the table (workpiece).  The end of the tool center point
comes to the point specified on the programming coordinate system.

G02

G17

I J K R F ;

G03

G02

G18

I J K R F ;

G03

G02

G19

I J K R F ;

G03

B-63944EN/03

PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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CAUTION

1 Only arc radius R can be specified. (The distance

from the start point to the center of the arc cannot
be specified using I, J, and K.)

2 A round circle (the start point and end point are the

same) cannot be specified.

Any command that does not move the tool center
point with respect to the workpiece (one that moves
the rotary axes only) must be executed in G00 or
G01 mode.

3 See the CAUTION box for tool center point control

(type 2).

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

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- Helical interpolation for tool center point control (type 1)

G43.4

_ H ;

Starts tool center point control (type 1).

: In the case of an absolute programming, the

coordinate value of the end point of the tool tip
movement

In the case of an incremental programming, the

amount of the tool tip movement

(This pertains only to two axes on the plane.)

I, J, K : Specify the distance between the start point in the

rotary axis position of the block start point and the
center of the arc, as seen from the programming
coordinate system.

: Arc radius R > 0: The center angle of the arc is less

than 180

R < 0: The center angle of the arc is

more than 180

: In the case of an absolute programming, the

coordinate value of the end point of the rotary axis

In the case of an incremental programming, the

amount of the rotary axis movement

: In the case of an absolute programming, the

coordinate value of the end point of the tool tip
movement

In the case of an incremental programming, the

amount of the tool tip movement

(This pertains only to one of the linear axes subject to

tool center point control which does not exist on the
plane. Linear interpolation is performed
simultaneously with circular interpolation.)

: Specified speed (speed in the tangent direction of the

arc as seen from the table coordinate system)

: Tool offset number

G02

J K

G17

F ;

G03

G02

J K

G18

F ;

G03

G02

J K

G19

F ;

G03

B-63944EN/03

PROGRAMMING

22.5-AXIS MACHINING FUNCTION

- 783 -

Movement to the position specified by the G43.4 block does not
constitute tool center point control. Only tool length compensation is
performed.

Because the specified speed is usually the speed in the tangent
direction of the arc, the speed of the linear axis, when seen from the

table coordinate system, is:

arc

the

Length

axis

linear

the

Length

Depending on bit 5 (HTG) of parameter No.1403, the specified speed
varies as shown in the following table.

Bit 5 (HTG) of parameter No.1403

0 1

Tangential speed of the arc

Synthetic speed of the linear axis
speed and tangential speed

While performing interpolation for the rotary axes, the CNC controls
the control points so that the tool center point moves helically with
respect to the table (workpiece). The end of the tool center point
comes to the point specified on the programming coordinate system.

CAUTION

Any command that does not move the tool center
point with respect to the workpiece (one that moves
the rotary axes only) must be executed in G00 or
G01 mode.

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

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- Helical interpolation for tool center point control (type 2)

G43.5

_ H_ Q_;

Starts tool center point control (type 2).

: In the case of an absolute programming, the

coordinate value of the end point of the tool tip
movement

In the case of an incremental programming, the

amount of the tool tip movement

(This pertains only to two axes on the plane.)

I, J, K : Tool axis direction at the block end point as seen from

the programming coordinate system

: Arc radius R > 0: The center angle of the arc is less

than 180

R < 0: The center angle of the arc is

more than 180

: In the case of an absolute programming, the

coordinate value of the end point of the tool tip
movement

In the case of an incremental programming, the

amount of the tool tip movement

(This pertains only to one of the linear axes subject to

tool center point control which does not exist on the
plane. Linear interpolation is performed
simultaneously with circular interpolation.)

: Specified speed (speed in the tangent direction of the

arc as seen from the table coordinate system)

: Tool offset number

: Inclination angle of the tool (in degrees)

G02

G17

I J K R

F ;

G03

G02

G18

I J K R

F ;

G03

G02

G19

I J K R

F ;

G03

B-63944EN/03

PROGRAMMING

22.5-AXIS MACHINING FUNCTION

- 785 -

Movement to the position specified by the G43.5 block does not
constitute tool center point control. Only tool length compensation is
performed.
Because the specified speed is the speed in the tangent direction of the
arc, the speed of the linear axis, when seen from the table coordinate

system, is:

arc

the

Length

axis

linear

the

Length

Depending on bit 5 (HTG) of parameter No.1403, the specified speed
varies as shown in the following table.

Bit 5 (HTG) of parameter No.1403

0 1

Tangential speed of the arc

Synthetic speed of the linear axis
speed and tangential speed

No rotary axes are specified.  Instead, the direction of the tool end
point is specified as I, J, K, as seen from the programming coordinate
system (the one fixed on the table when G43.5 is specified).
With a tool rotation type machine, I, J, K can be specified using the
G43.5 block.    In the case of a table rotation type or composite type
machine, however, these cannot be specified. Specifying them with
a table rotation type or composite type machine causes alarm PS5421.
While performing interpolation for the rotary axes, the CNC controls
the control points so that the tool center point moves helically with
respect to the table (workpiece).  The end of the tool center point
comes to the point specified on the programming coordinate system.

CAUTION

1 Only arc radius R can be specified. (The distance

from the start point to the center of the arc cannot
be specified using I, J, and K.)

2 A round circle cannot be specified.
3 Any command that does not move the tool center

point with respect to the workpiece (one that moves
the rotary axes only) must be executed in G00 or
G01 mode.

4 See the CAUTION box for tool center point control

(type 2).

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

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- Tool center point control cancellation command

G49

_ ;

Cancels tool center point control.

: In the case of an absolute programming, the

coordinate value of the end point of the tool control
point movement

In the case of an incremental programming, the

amount of the tool control point movement

: In the case of an absolute programming, the

coordinate value of the end point of the rotary axes

In the case of an incremental programming, the

amount of the rotary axis movement

The cancellation block for tool center point control is the one that
controls buffering.

Control point:
Control target on the
machine coordinate system

Tool center point

Tool offset value

Fig. 22.1 (e) Control point and tool center point

CAUTION

The G49 command must be executed in G00 or
G01 mode.

B-63944EN/03

PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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- Inclination angle of the tool

In the case of tool center point control of type 2, the inclination angle
of the tool can be specified using address Q of G43.5. The
inclination angle of the tool represents how inclined the tool direction
is toward the proceeding direction with respect to the direction
specified by (I, J, K) at the time of machining on the plane produced
by the tool direction specified by (I, J, K) and the proceeding direction
on the programming coordinate system. (See the figure below.)
Overviewly, the normal direction on the machining plane is specified
by (I, J, K). If the tool direction needs to be inclined toward the
proceeding direction with respect to the normal direction at the time of
machining, perform compensation using Q.
If the direction specified by (I, J, K) matches the direction in which
the tool moves at the time of machining, commanding Q is
unnecessary.

Tool direction specified by (I, J, K)

Tool direction at the time of machining

Proceeding
direction

Inclination angle of the tool

Example)

To incline the tool by two degrees toward the proceeding
direction at the time of machining, enter the following command:

G43.5 I_ J_ K_ H_ Q2.0

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