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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 123

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

- 940 -

Format
- Startup (start of cutter compensation) (type 1)

When bit 1 (SPG) of parameter No. 19607 is 0

G41.2 (or G42.2)

_ D_ ;

G41.2: Cutter compensation left (group 07)
G42.2: Cutter compensation right (group 07)

Value specified for axis moving as viewed from the
programming coordinate system (including rotary axis)

D_: Code specifying the cutter compensation amount (1 to 3 digits)

When bit 1 (SPG) of parameter No. 19607 is 1

G41.5 (or G42.5)

_ D_ ;

G41.5: Cutter compensation left (group 07)
G42.5: Cutter compensation right (group 07)

Value specified for axis moving as viewed from the
programming coordinate system (including rotary axis)

D_: Code specifying the cutter compensation amount (1 to 3 digits)

NOTE

1 In a composite type machine (parameter No. 19680 = 21),

if an attempt is made to issue G41.5 or G42.5 with bit 1
(SPG) of parameter No. 19607 equal to 0, alarm PS0010 is
generated.

2 In a composite type machine, if an attempt is made to issue

G41.2 or G42.2 with bit 1 (SPG) of parameter No. 19607
equal to 1, alarm PS5460 is generated.

3 In machine not of the composite type machine, if an

attempt is made to issue G41.5 or G42.5 with bit 1 (SPG)
of parameter No. 19607 equal to 1, alarm PS5460 is
generated.

- Startup (start of cutter compensation) (type 2)

G41.6 (or G42.6)

_ D_ Q_ ;

_ I_ J_ K_ ;

G41.6: Cutter compensation left (group 07)
G42.6: Cutter compensation right (group 07)

Value specified for axis moving as viewed from the
programming coordinate system (including rotary axis)

D_:

Code specifying the cutter compensation amount (1 to 3 digits)

Q_:

Tool’s angle of gradient (in degrees)

I_ J_ K_: Tool axis direction at the block end point as viewed from the

programming coordinate system

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PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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For type 2, do not specify a rotation axis but specify the direction at
the tool end point as viewed from the programming coordinate system
(table coordinate system), with I, J, and K. Specifying a rotation axis
causes alarm PS5460 to be generated.

In a tool rotation type machine, I, J, and K can be specified in a
G41.6/G42.6 command block; in a composite type machine, however,
they cannot. If an attempt is made to specify them, alarm PS5460 is
generated.
The following are the notes on type 2.

NOTE

1 If one or two of I, J, and K are omitted, the omitted

ones of I, J, and K are assumed to be 0.

2 In a block in which all of I, J, and K are omitted,

the values of I, J, and K in the previous block are
used.

3 If there is only one rotation axis (a hypothetical

axis is used), type 2 cannot be used. In this
case, if an attempt is made to issue G41.6/G42.6,
alarm PS5460 is generated.

4 If using the rotation axis rollover function or rotary

axis control function, specify 360 degrees in
parameter No. 1260 (mount of travel per rotation
about the rotation axis).

5 They can be used only with the settings that

select the table coordinate system as a
programming coordinate system (bit 5 (WKP) of
parameter No.19696 = 0 and bit 4 (TBP) of
parameter No.19746 = 1). If an attempt is made
to issue G41.6/G42.6 with the settings that select
the workpiece coordinate system as a
programming coordinate system, alarm PS5460 is
generated.

- Canceling the cutter compensation

G40

_ ;

G40: Cutter compensation cancellation (group 07)

Value specified for axis movement

NOTE

This function is enabled for tool side offset only. If
leading edge offset is specified, alarm PS5460 is
generated.

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

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Explanation
- Tool's angle of gradient in type 2

For type 2 of 3-dimensional cutter compensation, the tool's angle of
gradient can be specified with address Q in a G41.6/G42.6 command
block. The tool's angle of gradient refers to the angle by which the
tool direction to be assumed when machining is actually performed is
inclined from the direction specified with (I, J, K) toward the traveling
direction on the plane formed by the tool direction specified with (I, J,
K) and the traveling direction in the programming coordinate system.
(See Fig. 22.5.2 (b).)
Because in general, the normal direction of the machining surface is
specified with (I, J, K), if it is desired to incline the tool direction to be
assumed when machining is actually performed from the normal
direction toward the traveling direction, correction may be performed
with a Q command.
If the direction specified with (I, J, K) matches the tool direction to be
assumed when machining is actually performed, no Q command is
necessary.

Tool direction to be assumed when
machining is actually performed

(Plane perpendicular to the "tool direction to be
assumed when machining is actually performed")

Tool direction
specified with (I, J, K)

Traveling
direction of
machining

Tool's angle of gradient (Q)

Compensation plane

Tool center path
(path after compensation)

Programmed path
(path before compensation)

Cutter
compensation
vector

Fig. 22.5.3 (b) Tool's angle of gradient in type 2

- Cutter compensation

The function for 3-dimensional cutter compensation in a composite
type machine basically performs operations in conformance with
3-dimensional cutter compensation in a tool rotation type machine.
The operations different from those of 3-dimensional cutter
compensation in a tool rotation type machine are mainly described
below.
For the specifications and cautions not mentioned here, see the
description of 3-dimensional cutter compensation in a tool rotation
type machine.

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PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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- Startup

When 3-dimensional cutter compensation in a composite type
machine (G41.2 or G42.2, G41.5 or G42.5, or a D code other than D0)
is specified in the offset cancel mode, the CNC enters the offset mode.
Startup is specified with positioning (G00) or linear interpolation
(G01).

NOTE

If a command such as circular interpolation (G02 or
G03) and involute interpolation (G02.2 or G03.2) is
specified at startup, alarm PS0034 is issued.

- Commands in the offset mode

In the offset mode, compensation is performed for positioning (G00)
and linear interpolation (G01).

NOTE

If a command such as circular interpolation (G02 or
G03) and involute interpolation (G02.2 or G03.2) is
specified in the mode for 3-dimensional cutter
compensation in a composite type machine, alarm
PS5460 is issued.

- Offset mode cancellation

If a block satisfying either of the following conditions is executed in
the offset mode, the CNC enters the offset cancel mode:

G40 is specified.

0 is specified as a code specifying the cutter compensation
amount (D code).

When offset cancellation is to be performed, neither circular (G02 or
G03) nor involute (G02.2 or G03.2) command can be specified. If
offset cancellation is specified in such a mode, alarm PS0034 is
issued.

NOTE

1 This function cannot be used in the

three-dimensional coordinate system conversion
mode.

2 In addition to the cautions given here, the cautions

on the 3-dimensional cutter compensation function
apply to this function.

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

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- If selecting the table coordinate system as a programming coordinate system

If bit 4 (TBP) of parameter No.19746 is 1 and bit 5 (WKP) of
parameter No.19696 is 0, specifying 3-dimensional cutter
compensation causes the table coordinate system to be selected as a
programming coordinate system. The table coordinate system refers
to the workpiece coordinate system fixed to the table when
3-dimensional cutter compensation.
In the blocks subsequent to the one in which 3-dimensional cutter
compensation is specified, the table coordinate system rotates with the
rotation of the table.
A linear axis (X, Y, Z) command is assumed to be issued on the table
coordinate system.
Specifying linear interpolation causes cutter compensation to be
performed on the linear interpolation command on the table coordinate
system.
The table coordinate system does not rotate with the rotation of the
tool head.

The cancel (G40) block becomes a block that suppresses buffering.

It is possible to switch between absolute and relative coordinate
displays, using bit 2 (DET) of parameter No.19608 as follows:
-

When DET is 0, the position in the table coordinate system is
displayed.

When DET is 1, the position in the workpiece coordinate system
is displayed.

Note, however, the distance to go is always that in the programming
coordinate system.

NOTE

1 If the 3-dimensional cutter compensation mode is entered

when the table coordinate system is used as the
programming coordinate system, look-ahead
acceleration/deceleration before interpolation is
automatically enabled. Be sure to specify the following
parameters:

(1) Bit 1 (LRP) of parameter No.1401 = 1:

Linear rapid traverse

(2) Bit 5 (FRP) of parameter No.19501 = 1:

Acceleration/deceleration before interpolation is used for
rapid traverse.

(3) Parameter No. 1671:

Acceleration of acceleration/deceleration before
interpolation for rapid traverse

(4) Parameter No. 1672:

Change time for bell-shaped acceleration/deceleration
before interpolation for rapid traverse

(5) Parameter No. 1660:

Maximum permissible acceleration for
acceleration/deceleration before interpolation

If they are not specified, alarm PS5463 is generated.

B-63944EN/03

PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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NOTE

2 When table rotation axis movement is specified in the start

block of 3-dimensional cutter compensation, after the
movement is completed, the workpiece coordinate system is
fixed to the table and assumed to be a table coordinate
system.

3 In the mode of 3-dimensional cutter compensation, do not

change the workpiece coordinate system or change the
workpiece offset value. If an attempt is made to specify
workpiece coordinate system selection (G54 to G59), alarm
PS5460 is generated.

- If selecting the workpiece coordinate system as a programming coordinate

system

If bit 4 (TBP) of parameter No.19746 is 0 or if bit 4 (TBP) of
parameter No.19746 is 1 and bit 5 (WKP) of parameter No.19696 is 1,
the programming coordinate system does not rotate with the rotation
of the table, being fixed to the workpiece coordinate system.

- Angle of the rotation axis in type 2

For an explanation of how the rotation axis end point is determined
when the tool direction is specified with an IJKQ command in type 2,
see the explanations of cutter compensation in a tool rotation type
machine, "Angle of the rotation axis in type 2 (if the operating range
is not specified)" and "Angle of the rotation axis in type 2 (if the
operating range is specified)".

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

B-63944EN/03

- 946 -

22.5.4

Interference Check and Interference Avoidance

Overview

By setting bit 1 (NI5) of parameter No. 19608 to 1, this function
performs an interference check on the plane (compensation plane)
perpendicular to the tool axis direction regardless of the machine
configuration.
If bit 5 (CAV) of parameter No. 19607 is set to 1, a vector is generated
to avoid interference on the same plane.

Explanation
- For a tool rotation type machine

An interference check is performed, as well as interference avoidance,
with the tool path as projected from the workpiece coordinate system
(X-Y-Z) onto the compensation plane (X'-Y'-Z') and a compensation
vector.

Y’

X’

Z’

Fig. 22.5.4 (a) Tool rotation type

- For a table rotation type machine

An interference check is performed, as well as interference avoidance,
with the tool path as converted from the workpiece coordinate system
(X-Y-Z) into the table coordinate system (X'-Y'-Z') and a
compensation vector.

Z’

X’

Y’

Fig. 22.5.4 (b) Table rotation type

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PROGRAMMING

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- For a composite type machine

An interference check is performed, as well as interference avoidance,
with the tool path as projected from the workpiece coordinate system
(X-Y-Z) onto the table coordinate system (X'-Y'-Z') and then onto the
compensation plane perpendicular to the tool axis direction
(X''-Y''-Z'') and a compensation vector.

Z’

Y’

X’

Z’’

Y’’

X’’

Fig. 22.5.4 (c) Composite type

- Interference avoidance

V10

N10

N20

N30

N40

N50

V20 V30

V40

Compensation plane

Machining program
N10 X8.010 Y77.91 Z93.345 B21.02 C22.001
N20 X10.221 YY60.932 Z91.265 B24.124 C65.203
N30 X41.579 Y58.223 Z91.736 B23.457 C53.887
N40 X94.631 Y13.767 Z93.769 B20.004 C5.478
N50 X187.513 Y-73.654 Z94.245 B19.534 C-46.336

Fig. 22.5.4 (d) Example of interference avoidance

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