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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 140

3.MANUAL OPERATION

OPERATION

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3.9.5

Table Horizontal Direction Handle Feed / Table Horizontal

Direction JOG Feed / Table Horizontal Direction Incremental

Feed

Overview

In the table horizontal direction handle feed, table horizontal direction
JOG feed, and table horizontal direction incremental feed, the tool is
moved in the table horizontal direction.
If bit 1 (FLL) of parameter No. 12320 is set to 1, the tool or table is
moved in the latitude or longitude direction determined by the
table-based vertical direction vector.

Explanation
- Table horizontal direction

There are two table horizontal directions, which are perpendicular to
the table vertical direction (see the previous section).

Parameter No.19697

Table horizontal

direction 1

Table horizontal

direction 2

1 (The reference tool

direction is +X.)

+Y direction

+Z direction

2 (The reference tool

direction is +Y.)

+Z direction

+X direction

3 (The reference tool

direction is +Z.)

+X direction

+Y direction

This table shows the table horizontal directions that may be taken
when the angles of all the rotation axes for controlling the table are 0
degree.
As the rotation axes for controlling the table rotate, the table
horizontal direction changes according to the rotation axis angle.

Table horizontal direction 2

Table horizontal direction 1

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(Example) When the table rotation axis is the B-axis, and the table vertical direction

is the Z-axis direction

Table horizontal direction 2

Table horizontal

direction 1

Table vertical direction

- Latitude and longitude directions

When bit 1 (FLL) of parameter No. 12320 is set to 1, the feed
direction is defined as follows:
Let a vector perpendicular to a plane formed by the table-based
vertical direction vector (

) and normal axis direction vector (

)

(parameter No. 12321) be the table-based horizontal direction 1
(longitude direction) vector (

). When tool axis right-angle

direction 1 is selected, a movement in the positive direction means a
movement in this vector direction, and a movement in the negative
direction means a movement in the direction opposite to the vector
direction. (Longitude direction feed)
Equation:

Let a vector perpendicular to the table-based vertical direction vector
(

) and table-based horizontal direction 1 (longitude direction) vector

(

) be the table-based horizontal direction 2 (latitude direction)

vector (

). When tool axis right-angle direction 2 is selected, a

movement in the positive direction means a movement in this vector
direction, and a movement in the negative direction means a
movement in the direction opposite to the vector direction. (Latitude
direction)
Equation:

When table-based vertical direction vector (

) is parallel to the

normal axis direction vector (

) (parameter No. 12321) (when the

angle between them is not greater than the setting of parameter No.
12322), tool axis right-angle direction 1 and tool axis right-angle
direction 2 are assumed as follows:

Parameter

No. 12321

Normal axis

direction

Table-based

horizontal direction 1

Table-based

horizontal direction 2

direction

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If 0 is set in parameter No. 12321, the normal axis direction is set to
the tool axis direction.

If a value other than 0 to 3 is specified in parameter No. 12321, alarm
PS5459 is issued.

Table-based vertical

direction: T

Table-based horizontal

direction 2 (latitude

direction): R2

Table-based horizontal

direction 1 (longitude

direction): R1

Normal axis direction: P

- Table-based horizontal direction feed in the tilted working plane command mode

If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of
the table-based horizontal direction feed in the tilted working plane
command mode is defined as follows:

Table-based horizontal direction 1: X direction in the feature
coordinate system of the tilted working plane command
Table-based horizontal direction 2: Y direction in the feature
coordinate system of the tilted working plane command

- Table horizontal direction handle feed

The table horizontal direction handle feed is enabled when the
following four conditions are satisfied:
<1> Handle mode is selected.
<2> Both the tool axis right-angle direction feed mode signal

(RGHTH) and the table base signal (TB_BASE) are set to 1.

<3> The state of the first manual handle feed axis selection signals

(HS1A - HS1E) to make the table horizontal direction handle
feed mode effective is set in parameter No.12311 or No.12312.

<4> The value of parameter No.12311 or No.12312 matches the first

manual handle feed axis selection signals (HS1A - HS1E).

Amount of movement

When the manual pulse generator is rotated, the tool is moved in the
table horizontal direction by the amount of rotation.

Feedrate clamp

The feedrate is clamped so that the speed of each moving axis dose
not exceed the manual rapid traverse rate (parameter No.1424).
Handle pulses generated while the clamp feedrate is exceeded are
ignored.

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- Table horizontal direction JOG feed/table horizontal direction incremental feed

The table horizontal direction JOG feed or table horizontal direction
incremental feed is enabled when the following three conditions are
satisfied:
<1> JOG mode or incremental feed mode is selected.
<2> Both the tool axis right-angle direction feed mode signal

(RGHTH) and the table base signal (TB_BASE) are set to "1".

<3> The feed axis direction selection signal (+Jn, -Jn (where n = 1 to

the number of controlled axes)) is set to "1" for the axis
corresponding to the direction that is perpendicular to the
direction specified by parameter No.19697.
Ex.) No.19697 = 3 (+Z-axis direction); X-, Y-, and Z-axes are

the 1st, 2nd, and 3rd axes respectively.

•

+J1 : Table horizontal direction 1 +

•

-J1 : Table horizontal direction 1 -

•

+J2 : Table horizontal direction 2 +

•

-J2 : Table horizontal direction 2 -

Feedrate

The feedrate is the dry run rate (parameter No.1410). The manual
feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate is the jog
feedrate (parameter No. 1423) of a driven feed axis direction selection
signal. The manual feedrate override feature is available.

Feedrate clamp

The feedrate is clamped so that the speed of each moving axis dose
not exceed the manual rapid traverse rate (parameter No.1424).

Note

To perform a three-dimensional handle feed, the manual handle
feed option is required. To perform three-dimensional handle
interrupt, the manual handle interrupt option is required.

When a three-dimensional handle interrupt is performed, rotation
axis command execution must not be in progress in automatic
operation.

3 When the manual reference position return mode is selected,

three-dimensional manual feed is not enabled.

When the offset value specified for the tool length offset function
is used for tool center point rotation feed (when bit 2 (LOD) of
parameter No. 19746 is set to 1), the controlled point should
generally be shifted. (Set bit 5 (SVC) of parameter No. 19665
to 1.)
In this case, specify the tool length with a radius value.

3.MANUAL OPERATION

OPERATION

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3.10

DISTANCE CODED LINEAR SCALE INTERFACE

Overview

The interval of each reference marks of distance coded linear scale are
variable. Accordingly, if the interval is determined, the absolute
position can be determined. The CNC measures the interval of
reference marks by axis moving of short distance and determines the
absolute position. Consequently the reference position can be
established without moving to reference position.

10.02

10.04

20.02

20.00

Reference mark 1 Reference mark 2Mark 1

Mark 2

Mark 1

Fig. 3.10 (a) Example of distance coded linear scale

This is an optional function.

3.10.1

Procedure for Reference Position Establishment

Procedure

(1) Select the JOG mode, and set the manual reference position

return selection signal ZRN to "1".

(2) Set a direction selection signal(+J1,-J1,+J2,-J2,…) for a target

axis.

(3) The axis is fed at a constant low speed (reference position return

FL feedrate specified by parameter (No.1425) setting).

(4) When a reference mark is detected, the axis stops, then the axis is

fed at a constant low speed again.

(5) Above (4) is executed repeatedly until two, three or four

reference marks are detected. And absolute position is
determined and reference position establishment signal
(ZRF1,ZRF2,ZRF3, …) turns to "1".

(A number of reference marks is determined by bit 2 (DC2x) and
1 (DC4x) of parameter No.1802.)

Even when the direction selection signal (+J1, -J1, +J2, -J2,...) is set to
"0" while steps (2) to (5) are being performed, the feedrate operation
does not stop, and the operation for establishing a reference position is
carried out continuously.

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The timing chart for this procedures is given below.

JOG

ZRN

+J1

Reference mark

ZRF1

Feedrate

FL rate

Fig. 3.10.1 (a) Timing chart for reference position establishment

- Procedure for establishing a reference position through automatic operation

If an automatic reference position return (G28) is specified before a
reference position is not established, steps (3) to (5) above are
performed automatically.
After the reference position is established, the automatic reference
position return is performed.

- Stopping the operation for establishing a reference position

The operation for establishing a reference position is stopped if any of
the following operations is performed in steps (3) to (5), described
above.

•

Reset

•

Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2,
etc.) to 0

If any of the following operations is performed during the operation of
automatic reference position return (G28) before a reference position
is not established, the operation for establishing a reference position
stops:

•

Reset

•

Performing feed hold during movement from an intermediate

position

If the operation for establishing a reference position is stopped by an
operation other than a reset, the operation for establishing a reference
position must be reset and resumed.

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3.10.2

Reference Position Return

(1) When the reference position is not established and the axis

moved by turning the feed axis direction signal
(+J1,-J1,+J2,-J2,...) to "1" in REF mode, the reference position
establishment procedure is executed.

(2) When the reference position is already established and the axis is

moved by turning the feed axis direction signal
(+J1,-J1,+J2,-J2,...) to "1" in REF mode, the axis is moved to the
reference point without executing the reference position
establishment procedure.

(3) When the reference position is not established and the reference

position return command (G28) is executed, the reference
position establishment procedure is executed. The next
movement the axis depends on the setting of parameter RFS
(No.1818#0).

(4) When the reference position is already established and the

reference position command (G28) is executed, the movement of
the axis depends on the setting of bit 1 (RF2) of parameter
No.1818.

3.10.3

Distance Coded Rotary Encoder

In case of setting a rotary axis, if bit 3 (DCRx) of parameter No.1815
is set, the setting axis is regarded as being equipped with a distance
coded rotary encoder.
In case of distance coded rotary encoder, the marker interval may be
different from parameter setting value. (a-b section of the following
figure) When the reference point return is executed through this
section, it is not able to establish the reference point. Therefore, in
case of distance coded rotary encoder, if the reference point return is
started for B point from A point of below figure, the reference point is
not established yet at B point. The reference point return is re-started
for C point. The reference point return procedure is finished at C
point.

9.64

9.98

9.96

19.66

20.02

9.94

20.00

•

When the reference point return procedure is executed, the

coordinate value are rounded in 0 to 360 degree, even if Machine
coordinate values are linear axis type.

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•

In case of distance coded rotary encoder, only the measurement
by three points or four points is possible. (bit 2 (DC2) of
parameter No.1802 is disregarded as 0.)

3.10.4

Axis Synchronization Control

Requirements when this function is used with axis synchronization control
axes

When this function is used with axis synchronization control axes, the
distance coded linear scale used for the master axis and that used for
the slave axis must have reference marks placed at identical intervals.
(Set identical values in parameters Nos. 1821 and 1882 for both the
master and slave axes.)
This function does not work unless the use of this function is specified
for both the master and slave axes (bit 2 (DCL) of parameter No. 1815
is 1).
Also, in all parameters related to this function, except parameter No.
1883, 1884 (distance from the scale zero point to reference position 1,
2), set identical values for both the master and slave axes.
If a parameter value for the master axis differs from the corresponding
parameter value for the slave axis, alarm SV1051 is issued.

NOTE

When this function is used with axis
synchronization control axes for which the
operation mode is switched between
synchronization operation and normal operation,
this function is enabled only if the synchronization
select signal (SYNC1, SYNC2, ...<Gn138>) is 1.
(During establishment of a reference position, the
synchronization select signal status must be
maintained.)

Reference position establishment with axis synchronization control axes

With axis synchronization control axes, a reference position is
established as follows. When a reference mark for the master or slave
axis is detected, a stop takes place temporarily. Then, a feed operation
is performed again at the reference position return FL feedrate. This
sequence is repeated until a reference mark is detected three or four
times for both the master and slave axes. Then the absolute position is
calculated for both the master and slave axes, and the reference
position establish signals ZRF1, ZRF2, ... <F120> are set to 1.
After the reference position has been established by the above
operation, a synchronization error is corrected. (Checking for
excessive synchronization error alarm 2 is made even during reference
position establishment.)

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