FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 106

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

B-63944EN/03

 

 

- 804 - 

  - Angle of the rotary axis for type 2 (when the movement range is specified) 

If the upper and lower limits of the movement range of the rotary axis 
is specified using parameters No.19741 to No.19744, the rotary axis 
will move only within the specified range when the direction is 
specified using I, J, K, Q command for type 2 control. 

 

Although the procedure for determining the angles is the same as that 
used "when the movement range is not specified," the "output angles" 
need to be selected from 

those computed angles that are within the 

specified movement range for both axes

. 

 

"Output judgment conditions" 

Tool rotation type or table rotation type machine 

<1>  Of the angle pairs whose master and slave axis angles are both within 

the specified movement range, the rotary axis angle pair whose 
master axis (first rotary axis) moving angle is smaller represents the 
"output angles." 

                               

↓

 

                               

↓

 When the master axis moving angle is the same 

                               

↓

 

<2>  The "output angles" are represented by the computed rotary axis 

angle pair whose slave axis (second rotary axis) moving angle is 
smaller. 

                               

↓

 

                               

↓

 When the slave axis moving angle is the same 

                               

↓

 

<3>  The "output angles" are represented by the computed rotary axis 

angle pair whose master axis (first rotary axis) angle is nearer to 0 
degree (multiple of 360 degrees). 

                               

↓

 

                               

↓

 When the master axis angle is equally near to 0 degree

                               

↓

 

<4>  The "output angles" are represented by the computed rotary axis 

angle pair whose slave axis (second rotary axis) angle is nearer to 0 
degree (multiple of 360 degrees). 

Composite type machine 

<1>  Of the angle pairs whose master and slave axis angles are both within 

the specified movement range, the rotary axis angle pair whose table 
(second rotary axis) moving angle is smaller represents the "output 
angles." 

                               

↓

 

                               

↓

 When the table moving angle is the same 

                               

↓

 

<2>  The "output angles" are represented by the computed rotary axis 

angle pair whose tool (first rotary axis) moving angle is smaller. 

                               

↓

 

                               

↓

 When the tool moving angle is the same 

                               

↓

 

<3>  The "output angles" are represented by the computed rotary axis 

angle pair whose table (second rotary axis) angle is nearer to 0 
degree (multiple of 360 degrees). 

                               

↓

 

                               

↓

 When the table angle is equally near to 0 degree 

                               

↓

 

<4>  The "output angles" are represented by the computed rotary axis 

angle pair whose tool (first rotary axis) angle is nearer to 0 degree 
(multiple of 360 degrees). 

B-63944EN/03

 PROGRAMMING 

22.5-AXIS MACHINING FUNCTION

 

 

- 805 - 

 
When bit 5 (PRI) of parameter No.19608 is 1, the movement 
judgements for the first rotary axis and second rotary axis are made in 
reverse order. 
 

 CAUTION 

1  If the lower limit of the movement range is larger 

than the upper limit, alarm PS5459 occurs when 
G43.5 is specified. 

2  If no "computed angle" is found within the 

movement range because the range is too small, 
alarm PS5459 occurs. 

3  If 0 is set for both parameters that specify the 

upper and lower limits of the movement range, the 
tool operates assuming that there is no range 
specification. 

4  When the rotary axis rollover function or rotary axis 

control function is used (in which case, set 
parameter No.1260 (amount of movement per 
rotation of the rotary axis) to 360 degrees), the tool 
does not move beyond 0 degree (360 degrees) 
(does not take the shortcut) if the movement range 
is set between 0 and 360 degrees.    Also, do not 
specify a negative value or a value larger than 360 
degrees for the movement range. 

 
An example of the "movement judgement" process is given below. 
Assume that a tool rotation type or table rotation type machine has 
rotary axis A (master) and rotary axis B (slave) and that there are two 
pairs of basic computed angles as follows: 
(A 

θ

1 degree; B 

φ

1 degree) 

(A 

θ

2 degrees; B 

φ

2 degrees)   where 

θ

1 

≤

 

θ

2. 

The "computed angle" is obtained from either of the following 
expressions:  "basic computed angle" + 360 degrees 

×

 N or "basic 

computed angle" - 360 degrees 

×

 N. 

Assume that the current positions and movement ranges of rotary axis 
A (master) and rotary axis B (slave) are as shown in the following 
figure. 
 

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

B-63944EN/03

 

 

- 806 - 

 

360 

×

 (N + 1) degrees 

360 

×

 N degrees 

•

  Computed angle A 

Current position A

Movement range A 

θ

1 + 360 

×

 N 

θ

2 + 360 

×

 N   

θ

2 + 360 

×

 (N - 1) 

θ

1 + 360 

×

 (N + 1) 

 

"Computed angle of rotary axis A and its current position and movement 

range" 

 

360 

×

 (N + 1) degrees 

360 

×

 N degrees 

•

  Computed angle B 

Current position B 

Movement range B 

φ

2 + 360 

×

 N 

φ

1 + 360 

×

 N

φ

1 + 360 

×

 (N - 1) 

φ

2 + 360 

×

 (N + 1)   

 

"Computed angle of rotary axis B and its current position and movement 

range" 

 
When the two axes have a positional relationship as shown in the 
figure, the output angle of rotary axis A is (

θ

2 + 360 

×

 N) degrees and 

that of rotary axis B is (

φ

2 + 360 

×

 N) degrees (when bit 5 (PRI) of 

parameter No.19608 is set to 0). 
More concretely, from the computed angles obtained for rotary axis A, 
the nearest angle within the movement range, i.e. 

θ

2 + 360 

×

 N 

degrees, is first adopted.    Then, from the computed angles obtained 
for rotary axis B, the angle belonging to the same group as 

θ

2, i.e. 

φ

2 

+ 360 

×

 N, is adopted. 

 
Note that, in this example, the output angles and moving direction 
differ depending on whether the movement range is specified or not (0 
to 360 degrees), even if N is set to 0 and coordinates are rounded to 0 
to 360 degrees. 
Namely, if the movement range is not specified, 

θ

1 + 360 degrees 

nearest to the current position is adopted as the computed angle for 
rotary axis A and, from the computed angles belonging to the same 
group as 

θ

1, 

φ

1 degrees nearest to the current position is adopted as 

the computed angle for rotary axis B.  Rotary axis A moves in the 
plus direction.  As its coordinate is rounded to 360 degrees, rotary 
axis A reaches 

θ

1 degrees while moving in the plus direction. 

By contrast, when the movement range is set to 0 to 360 degrees, the 
output angles are (A 

θ

2 degrees; B 

φ

2 degrees).    Neither rotary axis 

A nor B moves in a way that it exceeds 0 degree (360 degrees). 
 

B-63944EN/03

 PROGRAMMING 

22.5-AXIS MACHINING FUNCTION

 

 

- 807 - 

Operation examples 
  - In the case of a tool rotation type machine 

Explanations are given below assuming a machine configuration in 
which a tool rotation axis that turns around the Y-axis is located 
beneath another tool rotation axis that turns around the Z-axis.    (See 
Fig. 22.1 (j).) 
 
If linear interpolation is specified for the X-, Y-, and Z-axes when a 
workpiece coordinate system is used as the programming coordinate 
system, control is exerted in such a way that the tool center point 
moves along a specified straight line with respect to the table 
(workpiece) as the tool rotates. 
Also, speed control is exerted so that the tool center point moves at the 
specified speed with respect to the table (workpiece). 
 
In the case of a machine having two tool rotation axes, the table does 
not rotate with respect to the workpiece coordinate system even if the 
rotary axes move.  Therefore, the programming coordinate system 
always matches the workpiece coordinate system, regardless of 
whether bit 5 (WKP) of parameter No.19696 is set to 0 or 1. 
 
Examples) 
For type 1: 

O100 (Sample Program1) ; 
N1 G00 G90 B0 C0 ; 
N2 G55 ; 

Prepares the programming coordinate 
system. 

N3 G43.4 H01 ; 

Starts tool center point control. 

 

 

H01 is the tool compensation number. 

N4 G00 X200.0 Y150.0 Z20.0 ; 

Moves to the start point. 

N5 G01 X5.0 Y5.0 Z5.0 C60.0 B45.0 F500 ; Linear interpolation 
N6 G49; 

Cancels tool center point control. 

N7 M30;

 

 
For type 2: 

O100 (Sample Program1) ; 
N1 G00 G90 B0 C0 ; 
N2 G55 ; 

Prepares the programming coordinate system. 

N3 G43.5 H01 ; 

Starts tool center point control. 

 

   

 

 

H01 is the tool compensation number. 

N4 G00 X200.0 Y150.0 Z20.0 ; Moves to the start point. 
N5 G01 X5.0 Y5.0 Z5.0 I1.0 J1.732 K2.0 F500 ; Linear interpolation 
N6 G49; 

Cancels tool center point control.

 

N7 M30; 

 

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

B-63944EN/03

 

 

- 808 - 

X'

Y'

Z'

C

Control point path (of the machine
coordinate system)

Tool center point path (of the programming coordinate system)

B

X'

Y'

Z'

X'

Y'

Z'

 

Fig. 22.1 (j)    Example for a tool rotation type machine 

 

B-63944EN/03

 PROGRAMMING 

22.5-AXIS MACHINING FUNCTION

 

 

- 809 - 

  - In the case of a table rotation type machine 

Explanations are given below assuming a machine configuration 
(trunnion) in which a rotation table that turns around the Y-axis is 
located above another table rotation axis that turns around the X-axis.   
(See Fig. 22.1 (k).) 
 
If linear interpolation is specified for the X-, Y-, and Z-axes on the 
programming coordinate system and if the rotary axis that moves the 
rotation table is specified (in the case of type 1) or the tool direction is 
specified (in the case of type 2), control is exerted in such a way that 
the tool center point moves along a specified straight line with respect 
to the table (workpiece) as the rotation table rotates. 
Also, speed control is exerted so that the tool center point moves at the 
specified speed with respect to the table (workpiece). 
 
Example) 
When type 1 is selected and the coordinate system fixed on the table is 
used as the programming coordinate system 
(Bit 5 (WKP) of parameter No.19696 = 0): 

O200 (Sample Program2) ; 
N1 G00 G90 A0 B0 ; 
N2 G55 ; 

Prepares the programming coordinate 
system. 

N3 G43.4 H01 ; 

Starts tool center point control. 

 

   

 

 

H01 is the tool compensation number. 

N4 G00 X20.0 Y100.0 Z0 ; 

Moves to the start point. 

N5 G01 X10.0 Y20.0 Z30.0 A60.0 B45.0 F500 ; Linear interpolation 
N6 G49;   

 

Cancels tool center point control. 

N7 M30; 

 
When type 1 is selected and the workpiece coordinate system is used 
as the programming coordinate system 
([Bit 5 (WKP) of parameter No.19696 = 1): 

O200 (Sample Program2) ; 
N1 G00 G90 A0 B0 ; 
N2 G55 ; 

Prepares the programming coordinate 
system. 

N3 G43.4 H01 ; 

Starts tool center point control. 

 

   

 

 

H01 is the tool compensation number. 

N4 G00 X20.0 Y100.0 Z0 ; 

Moves to the start point. 

N5 G01 X7.574 Y47.247 Z83.052 A60.0 B45.0 F500 ; 
  

   

Linear 

interpolation 

N6 G49;   

 

Cancels tool center point control. 

N7 M30; 

 

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

B-63944EN/03

 

 

- 810 - 

For type 2 (when the coordinate system fixed on the table is used as 
the programming coordinate system (only when bit 5 (WKP) of 
parameter No.19696 is set to 0)): 

O200 (Sample Program2) ; 
N1 G00 G90 A0 B0 ; 
N2 G55 ; 

Prepares the programming coordinate 
system. 

N3 G43.5 H01 ; 

Starts tool center point control. 

 

   

 

 

H01 is the tool compensation number. 

N4 G00 X20.0 Y100.0 Z0 ;   

Moves to the start point. 

N5 G01 X10.0 Y20.0 Z30.0 I-1.0 J2.449 K1.0 F500 ; 
  

   

Linear 

interpolation 

N6 G49;   

 

Cancels tool center point control. 

N7 M30; 

 

B-63944EN/03

 PROGRAMMING 

22.5-AXIS MACHINING FUNCTION

 

 

- 811 - 

X'

Y'

Z'

B

A

X'

Y'

Z'

Y'

X'

Z'

Tool center point path seen from the table-fixed coordinate system

X

Z'

Y

X

Z'

Y

X

Z'

Y

Tool center point path taken when
the programming coordinate
system does not move

Y

X

Z"

Y

X

Z"

Y

X

Z"

Control point path (of the machine
coordinate system)

 

Fig. 22.1 (k)    Example for a table rotation type machine