FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 286

A.PARAMETERS

 APPENDIX 

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19666 

 

Tool holder offset value 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  mm, inch (machine unit) 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

 [Valid data range]  9 digit of minimum unit of data (refer to standard parameter setting 

table (A)) 
(When the increment system is IS-B, -999999.999 to +999999.999) 
When the tool axis direction tool length compensation function, tool 
tip center rotation handle feed/interrupt, and the display of the tool 
center point position are performed, specify the offset for the 
machine-specific section from the rotation center of the rotation axis 
to the tool mounting position (the tool holder offset value) in tool 
length compensation during tool center point control and tilted 
working plane command mode (after G53.1). For the tool axis 
direction tool length compensation function, the tool holder offset 
function can be enabled or disabled by setting bit 7 (ETH) of 
parameter No. 19665. 
 

NOTE 

 

Set a radius value. 

 

19667 

 

Controlled-point shift vector 

 

 

[Input type]  Parameter input 

 

[Data type]  Real axis 

 

[Unit of data]  mm, inch (machine unit) 

 

[Minimum unit of data]  Depend on the increment system of the applied axis 

 [Valid data range]  9 digit of minimum unit of data (refer to standard parameter setting 

table (A)) 
(When the increment system is IS-B, -999999.999 to +999999.999) 
Set the shift vector for the controlled point. This value becomes valid 
when bit 5 (SVC) of parameter No. 19665 is set to 1, and bit 4 (SPR) 
of parameter No. 19665 is set to 1. 
 

NOTE 

 

Set a radius value. 

 

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 APPENDIX 

A.PARAMETERS

 

 

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19680 

 

Mechanical unit type 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to 21 

Specify the type of the mechanical unit. 

Parameter 

No. 19680 

Mechanical unit type 

Controlled rotation axis 

Master and slave 

0 

 

Mechanism having no rotation axis

 

2 

Tool rotation type 

Two rotation axes of the tool 

The first rotation axis is the master, and 
the second rotation axis is the slave. 

12 

Table rotation type 

Two rotation axes of the table 

The first rotation axis is the master, and 
the second rotation axis is the slave. 

21 Mixed 

type 

One rotation axis of the tool + one 
rotation axis of the table 

The first rotation axis is the tool rotation 
axis, and the second rotation axis is the 
table rotation axis. 

 

First rotary axis (master)

Second rotary axis (slave)

First rotary axis (master)

Second rotary axis (slave)

Tool rotary
axes

Table rotary
axes

 

 

NOTE 

 

  A hypothetical axis is also counted as a 
controlled rotary axis. 
<Hypothetical axis> 

 

  In some cases, it is convenient to use an 
imaginary rotary axis whose angle is fixed to a 
certain value. For example, suppose that a tool is 
mounted in a tilted manner through an attachment. 
In such a case, the rotary axis considered 
hypothetically is a hypothetical axis. Bits 0 (IA1) 
and 1 (IA2) of parameter No. 19696 determine 
whether each rotary axis is an ordinary rotary axis 
or a hypothetical axis. 

 

A.PARAMETERS

 APPENDIX 

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19681 

 

Controlled-axis number for the first rotation axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to Number of controlled axes 

Set the controlled-axis number for the first rotation axis. 
For a hypothetical axis (when bit 0 (IA1) of parameter No. 19696 is 1), 
set 0. 
Example) 
 

Assuming that the axis configuration in path 1 is X,Y,Z,B,C and 
the axis configuration in path 2 is X,Z,C,Y,B, set the parameter 
to 5 in path 1 and to 3 in path 2 if C is the first rotation axis in 
each path. 

 

19682 

 

Axis direction of the first rotation axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to 6 

Specify the axis direction of the first rotation axis. 
1: On 

X-axis 

2: On 

Y-axis 

3: On 

Z-axis 

4:  On an axis tilted a certain angle from the X-axis from the 

positive X-axis to positive Y-axis 

5:  On an axis tilted a certain angle from the Y-axis from the 

positive Y-axis to positive Z-axis 

6:  On an axis tilted a certain angle from the Z-axis from the positive 

Z-axis to positive X-axis 

(A value 4 to 6 is to be set when the inclined rotation axis control 
function is used.) 
 

Y

Z

X

2

3

1

Parameter No.19682

 

 

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A.PARAMETERS

 

 

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19683 

 

Inclination angle when the first rotation axis is an inclined axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  Degree 

 

[Minimum unit of data]  The increment system of the reference axis is to be followed. 

  [Valid data range]  Nine digits of the least input increment (see standard parameter setting 

table (A).) 
(-999999.999 to +999999.999 for IS-B) 
When a value 1 to 3 is set in parameter No. 19682, set 0 degrees. 
When a value 4 to 6 is set in parameter No.19682, specify the 
inclination angle. 
 

Parameter No.19682

Y

Z

X

5

4

6

Parameter No.19683

 

 

19684 

 

Rotation direction of the first rotation axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to 1 

Set the direction in which the first rotation axis rotates as a mechanical 
motion when a positive move command is issued. 
0:  Clockwise direction as viewed from the negative to positive 

direction of the axis specified in parameter No. 19682 
(right-hand thread rotation) 

1:  Counterclockwise direction as viewed from the negative to 

positive direction of the axis specified in parameter No. 19682 
(left-hand thread rotation) 

Normally, 0 is set for a tool rotation axis, and 1 is set for a table 
rotation axis. 
 

A.PARAMETERS

 APPENDIX 

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19685 

 

Rotation angle when the first rotation axis is a hypothetical axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  Degree 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

 [Valid data range]  9 digit of minimum unit of data (refer to standard parameter setting 

table (A)) 
(When the increment system is IS-B, -999999.999 to +999999.999) 
When the first rotation axis is a hypothetical axis (bit 0 (IA1) of 
parameter No. 19696 is 1), set the rotation angle. 
 

19686 

 

Controlled-axis number for the second rotation axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to Number of controlled axes 

Set the controlled-axis number for the second rotation axis. 
For a hypothetical axis (bit 1 (IA2) of parameter No. 19696 is 1), set 
0. 
Example) 
 

Assuming that the axis configuration in path 1 is X,Y,Z,B,C and 
the axis configuration in path 2 is X,Z,C,Y,B, set the parameter 
to 4 in path 1 and to 5 in path 2 if B is the second rotation axis in 
each path. 

 

19687 

 

Axis direction of the second rotation axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to 6 

Specify the axis direction of the second rotation axis. 
1: On 

X-axis 

2: On 

Y-axis 

3: On 

Z-axis 

4:  On an axis tilted a certain angle from the X-axis from the 

positive X-axis to positive Y-axis 

5:  On an axis tilted a certain angle from the Y-axis from the 

positive Y-axis to positive Z-axis 

6:  On an axis tilted a certain angle from the Z-axis from the positive 

Z-axis to positive X-axis 

(A value 4 to 6 is to be set when the inclined rotation axis control 
function is used.) 
When the second rotation axis is the slave axis, the direction when the 
master axis is at 0 degrees must be set. 
 

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 APPENDIX 

A.PARAMETERS

 

 

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19688 

 

Inclination angle when the second rotation axis is inclined 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  Degree 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

  [Valid data range]  9 digit of minimum unit of data (refer to standard parameter setting 

(When the increment system is IS-B, -999999.999 to +999999.999) 
If parameter No. 19687 is set to a value 1 to 3, set 0 degrees. 
If parameter No. 19687 is set to a value 4 to 6, set the inclination 
angle. 
 

19689 

 

Rotation direction of the second rotation axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to 1 

Set the direction in which the second rotation axis rotates as a 
mechanical motion when a positive move command is issued. 
0:  Clockwise direction as viewed from the negative to positive 

direction of the axis specified in parameter No. 19687 
(right-hand thread rotation) 

1:  Counterclockwise direction as viewed from the negative to 

positive direction of the axis specified in parameter No. 19687 
(left-hand thread rotation) 

Normally, 0 is set for a tool rotation axis, and 1 is set for a table 
rotation axis. 
 

19690 

 

Rotation angle when the second rotation axis is a hypothetical axis 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  Degree 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

 [Valid data range]  9 digit of minimum unit of data (refer to standard parameter setting 

table (A)) 
(When the increment system is IS-B, -999999.999 to +999999.999) 
When the second rotation axis is a hypothetical axis (bit 1 (IA2) of 
parameter No. 19696 is 1), set the rotation angle. 
 

A.PARAMETERS

 APPENDIX 

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#7 #6 #5 #4 #3 #2 #1 #0 

19696    

RFC  WKP

 

NPC 

 

IA2  IA1 

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 0 

IA1

   

0:  The first rotation axis is an ordinary rotation axis. 
1:  The first rotation axis is a hypothetical axis. 
If IA1 is 1, set 0 as the controlled-axis number for the first rotation 
axis (parameter No. 19681). 
Also, set parameter Nos. 19682 to 19685 on the assumption that there 
is a rotation axis. 
 

        # 1 

IA2

   

0:  The second rotation axis is an ordinary rotation axis. 
1:  The second rotation axis is a hypothetical axis. 
If IA2 is 1, set 0 as the controlled-axis number for the second rotation 
axis (parameter No. 19686). 
Also, set parameter Nos. 19687 to 19690 on the assumption that there 
is a rotation axis. 
 

        # 3 

NPC

  In tool posture control for tool center point control type II, when the 

change of tool posture at the block end is not done with the parameters 
(No.19738, 19739), even if the tool posture passes the singular 
posture, 
0:  Program is executed without the change of tool posture. 
1:  The alarm PS5421 occurs. 
 

       

# 5 

WKP

  For a 5-axis machine having a table rotation axis, as the programming 

coordinate system for tool center point control or 3-dimensional tool 
compensation machining: 
0:  The table coordinate system (coordinate system fixed on the 

rotary table) is used. 

1:  The workpiece coordinate system is used. 
 

NOTE 

 

For 3-dimensional tool compensation machining, 
the setting of this parameter is used only when bit 
4 (TBP) of parameter No. 19746 is set to 1. 

 

       

# 6 

RFC

  In tool center point control, when a command that does not move the 

tool center point with respect to the workpiece is issued, the feedrate 
of the rotation axis is: 
0:  The maximum cutting feedrate (parameter No. 1422). 
1:  A specified feedrate. 
 

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 APPENDIX 

A.PARAMETERS

 

 

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19697 

 

Reference tool axis direction 

 

 

[Input type]  Parameter input 

 

[Data type]  Byte path 

  [Valid data range]  0 to 3 

Set the tool axis direction in the machine coordinate system when the 
rotation axes for controlling the tool are all at 0 degrees. Also, set the 
tool axis direction in the machine coordinate system in a mechanism 
in which only the rotation axes for controlling the table are present 
(there is no rotation axis for controlling the tool). 
1:  Positive X-axis direction 
2:  Positive Y-axis direction 
3:  Positive Z-axis direction 
When the reference tool axis direction is neither the X-, Y-, nor Z-axis 
direction, set the reference direction in this parameter, then set 
appropriate angles as the reference angle RA and reference angle RB 
(parameter Nos. 19698 and 19699). 

 

 

Reference tool axis direction 

X

Y 

Z

Tool axis direction is positive X-axis direction.

Tool axis direction is positive Y-axis direction.

Tool axis direction is positive Z-axis direction.