FANUC Series 16i/160i/160is-MB, Series 18i/180i/180is-MB5, Series 18i/180i/180is-MB. Operator's Manual

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

D G28, G30, or G30.1

When G28, G30, or G30.1 is specified in cutter compensation C mode,

command in cutter

an operation of FS15 type is performed if CCN (bit 2 of parameter No.

compensation C mode

5003) is set to 1.

This means that an intersection vector is generated in the previous block,

and a perpendicular vector is generated at an intermediate position. Offset

vector cancellation is performed when movement is made from the

intermediate position to the reference position. As part of restoration, an

intersection vector is generated between a block and the next block.

(1) G28, G30, or G30.1, specified in offset mode (with movement to both

an intermediate position and reference position performed)

(a) For return by G29

When CCN (bit 2 of parameter No. 5003) = 0

Oxxxx;

Intermediate

[Type A]

G91G41_ _ _;

position

G28/30/30.1

s Return posiiton

G01

G28X40.Y0 ;

G29X45.Y15. ;

(G42G01)

G29

Reference position or floating

reference position

[Type B]

Intermediate

position

Return posiiton

G28/30/30.1

(G42G01)

G01

G29

Reference position or floating

reference position

D G29 command in cutter

compensation C mode

When CCN (bit 2 of parameter No. 5003) = 1

[FS15 Type]

Intermediate

position

G28/30/30.1

Return posiiton

G01

(G42G01)

G29

Reference position or floating

reference position

340

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

(b) For return by G00

When CCN (bit 2 of parameter No. 5003) = 0

Oxxxx;

[Type A]

G91G41_ _ _;

Intermediateposition

G28/30/30.1

s G01

G28X40.Y0 ;

G00

(G42G01)

Reference position or floating

reference position

[Type B]

Intermediateposition

G28/30/30.1

s G01

G00

(G42G01)

Reference position or floating

reference position

When CCN (bit 2 of parameter No. 5003) = 1

[FS15 Type]

Intermediateposition

G28/30/30.1

s G01

(G42G01)

G00

Reference position or floating

reference position

(2) G28, G30, or G30.1, specified in offset mode (with movement to an

intermediate position not performed)

(a) For return by G29

When CCN (bit 2 of parameter No. 5003) = 0

O××××;

[Type A]

G91G41_ _ _;

Intermediate position = return position

(G42G01)

G01

G28X0Y0 ;

G29X0Y0 ;

G01

G28/30/30.1

G29

Reference position or floating

reference position

[Type B]

Intermediate position = return position

(G42G01)

G01

G29

G28/30/30.1

Reference position or floating

reference position

341

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

When CCN (bit 2 of parameter No. 5003) = 1

[FS15 Type]

Intermediate position = return position

(G42G01)

G01

G28/30/30.1

G29

Reference position or floating

reference position

(b) For return by G00

When CCN (bit 2 of parameter No.5003)=0

Oxxxx;

[Type A]

G91G41_ _ _;

Start-up

(G42G01)

G28X0Y0 ;

G01

Intermediate

position

G00

G28/30/30.1

Reference position or floating

reference position

[Type B]

Start-up

(G42G01)

s G01

Intermediate

G00

position

G28/30/30.1

Reference position or floating

reference position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

(G41G01)

Intermediate

G01

position

G00

G28/30/30.1

Reference position or floating

reference position

342

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

(3) G28, G30, or G30.1, specified in offset mode

(with movement to a reference position not performed)

(a) For return by G29

When CCN (bit 2 of parameter No.5003)=0

Oxxxx;

[Type A]

G91G41_ _ _;

Return position

(G42G01) s

G01

G28/30/30.1

G28X40.Y-40.;

G29

G29X40.Y40.;

Reference position or floating

referenceposition=Intermedi-

ate position

[Type B]

Return position

(G42G01)

G01

G28/30/30.1

G29

Reference position or floating

referenceposition=Intermedi-

ate position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

Return position

(G42G01)

G01

G28/30/30.1

G29

Reference position or floating

referenceposition=Intermedi-

ate position

(b) For return by G00

When CCN (bit 2 of parameter No.5003)=0

Oxxxx;

[Type A]

G91G41_ _ _;

Start-up

G28X40.Y-40.;

(G41G01)

s G01

G00

G28/30/30.1

Reference position or floating

referenceposition=Intermedi-

ate position

[Type B]

Start-up

(G41G01)

G01

G28/30/30.1

s G00

Reference position or floating

referenceposition=Intermedi-

ate position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

(G41G01)

G01

G28/30/30.1

G00

Reference position or floating

referenceposition=Intermedi-

ate position

343

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

(4) G28, G30, or G30.1 specified in offset mode (with no movement

performed)

(a) For return by G29

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

Intersection vector

G28/30/30.1/G29

G28X0Y0;

(G41G01)

G29X0Y0;

G01

Reference position or floating

reference position

=Intermediateposition

=return position

[Type B]

Intersection vector

G28/30/30.1/G29

(G41G01)

G01

Reference position or floating

reference position

=Intermediateposition

=return position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

G28/30/30.1/G29

Intersection vector

(G42G01) r

G01

Reference position or floating

G01

reference position

=Intermediateposition

=return position

(b) For return by G00

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

G28/30/30.1

Start-up

G28X0Y0;

(G41G01) r

G00

Reference position or floating

reference position

G01

=Intermediateposition

[Type B]

Start-up

G28/30/30.1

(G41G01)

G00

Reference position or floating

reference position

G01

=Intermediateposition

344

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

G28/30/30.1

(G41G01)

G00

Reference position or floating G01

reference position

=Intermediateposition

WARNING

When a G28, G30, or G30.1 command is specified during all-axis machine lock, a

perpendicular offset vector is applied at the intermediate position, and movement to the

reference position is not performed; the vector is preserved. Note, however, that even if the

FS15 type is used, the vector is canceled only when each-axis machine lock is applied.

(The FS15 type preserves the vector even when each-axis machine lock is applied.)

Example1: When CCN (bit 2 of parameter No.5003)=1

and all-axis machine lock is applied

[FS15Type ]

(G42G01)

G28

G01

Reference position or floating

Intermediateposition

reference position

Example2: When CCN (bit 2 of parameter No.5003)=1

and each-axis machine lock is applied

[FS15Type]

(G42G01)

G28

G01

Reference position or floating

Intermediateposition

reference position

When G28, G30, or G30.1 is specified for a compensation axis in cutter compensation mode,

the vectors along the other axes are also canceled.

(This also applies when CCN (bit 2 of

parameter No. 5003) is set to 1. When the FS15 type is used, only the vector along a specified

axis is canceled. Note that the FS15 type cancellation differs from the actual FS15 specification

in this point.)

Example:

When CCN (bit 2 of parameter No.5003)=1

G00

(G41G00X_Z_)

s s

G00

G28Z_

Reference position or floating

Intermediateposition

reference position

345

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

NOTE

When a G28, G30, or G30.1 command specifies an axis that is not in the cutter compensation

C plane, a perpendicular vector is generated at the end point of the previous block, and the tool

does not move. In the next block, offset mode is automatically resumed (in the same way as

when two or more continuous blocks do not specify any move commands).

Example:

When CCN (bit 2 of parameter No. 5003) = 1

[FS15 Type]

G28(G30/30.1)Z__

(G41G01X_Y_)

G01

When a G28, G30, or G30.1 block is specified such that the block becomes a start-up block,

a vector perpendicular to the move direction is generated at an intermediate position, then

subsequently canceled at the reference position. In the next block, an intersection vector is

generated.

Example:

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

G01

G42G28

G01

Reference position or floating

reference position

Intermediateposition

346

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

D G29 command in cutter

When G29 is specified in cutter compensation C mode, an operation of

compensation C mode

FS15 type is performed if CCN (bit 2 of parameter No. 5003) is set to 1.

This means that an intersection vector is generated in the previous block,

and vector cancellation is performed when a movement to an intermediate

position is performed. When movement from the intermediate position

to the return position is performed, the vector is restored; an intersection

vector is generated between the block and the next block.

(1) G29 specified in offset mode (with movement to both an intermediate

position and reference position performed)

(a) For specification made immediately after automatic reference

position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Tlype A]

G91G41_ _ _;

Intermediate

position

Return position

G28/30/30.1

G28X40.Y0;

G01

G29X45.Y15.;

(G42G01)

G29

Reference position or floating

reference position

[Type B]

Intermediateposition

Return position

G28/30/30.1

G01

(G42G01)

G29

Reference position or floating

reference position

When CCN (bit 2 of parameter No.5003)=1

[FS15Type]

Intermediate

Return position

position

G28/30/30.1

G01

(G42G01)

G29

Reference position or floating

reference position

347

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

(b) For specification made other than immediately after automatic

reference position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

Return position

G01

(G42G01)

G29X40.Y40.;

Intermediate

position

G29

Start-up

[Type B]

Return position

G01

(G42G01)

Intermediate

position

G29

Start-up

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

Return position

G01

(G42G01)

Intermediate

position

G29

(2) G29 specified in offset mode (with movement to an intermediate

position not performed)

(a) For specification made immediately after automatic reference

position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

Return position

(G42G01)

G01

G28X40.Y-40.;

G28/30/30.1

G29X40.Y40.;

G29

Reference position or floating

referenceposition=Intermedi-

ate position

[Type B]

(G42G01)

Return position

s G01

G28/30/30.1

G29

Reference position or floating

referenceposition=Intermedi-

ate position

348

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

Return position

(G42G01)

G01

G28/30/30.1

G29

Reference position or floating

referenceposition=Intermedi-

ate position

(b) For specification made other than immediately after automatic

reference position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

Intermediateposition

G29X40.Y-40.;

(G42G01)

s G01

G29

G01

Start-up

[Type B]

Return position

Intermediateposition

(G42G01) s

G01

G29

G01

Start-up

Return position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

Intermediateposition

(G42G01)s

G01

G29

G01

Return position

349

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

(3) G29 specified in offset mode (with movement to a reference position

not performed)

(a) For specification made immediately after automatic

reference

position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

Intermediateposition

=Return position

G28X0Y0;

(G42G01)

G01

G29X0Y0;

G01

G28/30/30.1

G29

Reference position or floating

reference position

[Type B]

Intermediateposition

=Return position

(G42G01)

G01

G28/30/30.1

G29

Reference position or floating

reference position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

Intermediateposition

=Return position

(G42G01)

G01

G28/30/30.1

G29

Reference position or floating

reference position

350

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

(b) For specification made other than immediately after automatic

reference position return

O××××;

[Type A]

G91G41_ _ _;

(G42G01)

G01

G29X0Y0;

G29

G01

Intermediateposition

=Return position

[Type B]

(G42G01)

G01

G29

G01

Intermediateposition=

Return position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

(G42G01)

s G01

G29

G01

Intermediateposition

=Return position

351

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

(4) G29 specified in offset mode (with movement to an intermediate

position and reference position not performed)

(a) For specification made immediately after automatic reference

position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

G28/30/30.1,G29

Intersection vector

G28X0Y0;

G29X0Y0;

(G41G01)

G01

Reference position or floating

reference position

=Intermediateposition

=return position

[Type B]

G28/30/30.1,G29

Intersection vector

(G41G01)r

G01

Reference position or floating

reference position

=Intermediateposition

=return position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

G28/30/30.1,G29

Intersection vector

(G42G01) r

G01

Reference position or floating

reference position

=Intermediateposition

=return position

352

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

(b) For specification made other than immediately after automatic

reference position return

When CCN (bit 2 of parameter No.5003)=0

O××××;

[Type A]

G91G41_ _ _;

G29

G29X0Y0;

G01

(G41G01) r

G01

Intermediate position=return position

[Type B]

G29

G01

(G41G01)

Intermediate position=return position

When CCN (bit 2 of parameter No.5003)=1

[FS15 Type]

G29

G01

(G41G01)

Intermediate position=return position

NOTE

When a G29 command is specified for an axis that is not in

the cutter compensation C plane in cutter compensation C

mode, a perpendicular vector is generated at the end point

of the previous block, and the tool does not move. In the

next block, an intersection vector is generated (in the same

way as when two or more continuous blocks do not specify

any move commands).

G29Z__

G01

(G41G01X_Y_)

353

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

14.6.9

By specifying G39 in offset mode during cutter compensation C, corner

circular interpolation can be performed. The radius of the corner circular

Corner Circular

interpolation equals the compensation value.

Interpolation (G39)

Format

In offset mode

G39 ;

I_J_

G39

I_K_

;

J_K_

Explanations

D Corner circular

When the command indicated above is specified, corner circular

interpolation

interpolation in which the radius equals compensation value can be

performed. G41 or G42 preceding the command determines whether the

arc is clockwise or counterclockwise. G39 is a one-shot G code.

D G39 without I, J, or K

When G39; is programmed, the arc at the corner is formed so that the

vector at the end point of the arc is perpendicular to the start point of the

next block.

D G39 with I, J, and K

When G39 is specified with I, J, and K, the arc at the corner is formed so

that the vector at the end point of the arc is perpendicular to the vector

defined by the I, J, and K values.

Limitations

D Move command

In a block containing G39, no move command can be specified.

D Non-move command

Two or more consecutive non-move blocks must not be specified after a

block containing G39 without I, J, or K.

(A single block specifying a

travel distance of zero is assumed to be two or more consecutive

non-move blocks.) If the non-move blocks are specified, the offset

vector is temporarily lost. Then, offset mode is automatically restored.

354

PROGRAMMING

14. COMPENSATION FUNCTION

B-63534EN/02

Examples

D G39 without I, J, or K

X axis

(In offset mode)

N1 Y10.0 ;

N2 G39 ;

Y axis

N3 X-10.0 ;

Block N1

Offset vector

Block N2

(0.0, 10.0)

Block N3

Programmed path

Tool center path

(-10.0, 10.0)

D G39 with I, J, and K

X axis

(In offset mode)

N1 Y10.0 ;

N2 G39 I-1.0 J2.0 ;

Y axis

N3 X-10.0 Y20.0 ;

Block N2

Block N1

Offset vector

Block N3

Programmed

path

(0.0, 10.0)

(I=-1.0, J=2.0)

Tool center

path

(-10.0, 20.0)

355

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

14.7

In cutter compensation C, two-dimensional offsetting is performed for a

selected plane. In three-dimensional tool compensation, the tool can be

THREE-

shifted three-dimensionally when a three-dimensional offset direction is

DIMENSIONAL TOOL

programmed.

COMPENSATION

(G40, G41)

Format

D Start up

When the following command is executed in the cutter compensation

cancel mode, the three-dimensional tool compensation mode is set:

(Starting three-

dimensional tool

G41 Xp_ Yp_ Zp_ I_ J_ K_ D_ ;

compensation)

Xp : X-axis or a parallel axis

Yp : Y-axis or a parallel axis

Zp : Z-axis or a parallel axis

See “Explanation”.

D : Code for specifying as the cutter compensation value

(1-3 digits) (D code)

D Canceling

When the following command is executed in the three-dimensional tool

three-dimensional tool

compensation mode, the cutter compensation cancel mode is set:

compensation

⋅When canceling the three-dimensional tool compensation mode and

tool movement at the same time

G40 Xp_ Yp_ Zp_ ;

Xp_ Yp_ Zp_ D00 ;

⋅When only canceling the vector

G40;

D00;

D Selecting offset space

The three-dimensional space where three-dimensional tool compensation

is to be executed is determined by the axis addresses specified in the startup

block containing the G41 command. If Xp, Yp, or Zp is omitted, the corre-

sponding axis, X-, Y-, or Z-axis (the basic three axis), is assumed.

(Example)

When the U-axis is parallel to the X-axis, the V-axis is parallel to the

Y-axis, and the W-axis is parallel to the Z-axis

G41 X_I_J_K_D_;

XYZ space

G41 U_V_Z_I_J_K_D_;

UVZ space

G41 W_I_J_K_D_;

XYW space

356

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

Explanations

D Three-dimensional tool

In three-dimensional tool compensation mode, the following three

compensation vector

-dimensional compensation vector is generated at the end of each block:

Programmed path

Path after three-dimensional tool

compensation

Three-dimensional tool

compensation vector

G40

G41

The three-dimensional tool compensation vector is obtained from the

following expressions:

i ⋅ r

Vx =

(Vector component along the Xp-axis)

j ⋅ r

Vy =

(Vector component along the Yp-axis)

k ⋅ r

Vz =

(Vector component along the Zp-axis)

In the above expressions, i, j, and k are the values specified in addresses

I, J, and K in the block. r is the offset value corresponding to the

specified offset number. p is the value obtained from the following

expression:

i² + j² + k²

When the user wants to program the magnitude of a three-dimensional

tool compensation vector as well as its direction, the value of p in the

expressions of Vx, Vy, and Vz can be set as a constant in parameter (No.

5011.) If the parameter is set to 0, however, p is determined as follows:

i² + j² + k²

D Relationship between

three-dimensional tool

The specified path is shifted by three-dimensional tool com-

compensation and other

Tool length offset

pensation and the subsequent path is shifted by tool length

compensation functions

offset.

When tool offset is specified in the three-dimensional tool

Tool offset

compensation mode, an alarm is issued (P/S alarm No.

042).

When addresses I, J, and K are all specified at startup,

three-dimensional tool compensation mode is set. When

not all of the addresses are specified, cutter compensation

Cutter

C mode is set. Therefore, cutter compensation C cannot be

compensation C

specified in three-dimensional tool compensation mode

and three-dimensional tool compensation cannot be speci-

fied in cutter compensation C mode.

357

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

Addresses I, J, and K must all be specified to start three-dimensional tool

D Specifying I, J, and K

compensation. When even one of the three addresses is omitted,

two-dimensional cutter compensation C is activated. When a block

specified in three-dimensional tool compensation mode contains none of

addresses I, J, and K, the same vector as the vector generated in the

previous block is generated at the end of the block.

D G42

Generally, G41 is specified to start three-dimensional tool compensation.

Instead of G41, G42 can be specified for startup. With G42, three-

dimensional tool compensation is performed in the opposite direction.

D Offset vector in

When circular interpolation, helical interpolation (both specified with

interpolation

G02, G03), or involute interpolation (G02.2, G03.2) is specified, the

vector generated in the previous block is maintained.

Vector generated in the block before an arc

The same vector is

generated.

Programmed path

Path after three-dimensional

tool compensation

Three-dimensional tool compensation vector

D Reference position

Before specifying reference position return check

(G27), cancel

return check (G27)

three-dimensional tool compensation. In the compensation mode, G27

brings the tool to a position shifted by the offset value. If the position the

tool reached is not the reference position, the reference position return

LED does not go on (the P/S alarm No.092 alarm is issued).

D Return to a reference

When return to the reference position (G28), to the second, third, or fourth

position (G28, G30,

reference position (G30), or to the floating reference position (G30.1) is

G30.1)

specified, the vector is cleared at a middle point.

D Alarm issued at startup

If one of the following conditions is present at the startup of three-

dimensional tool compensation, an alarm is issued:

D Two or more axes are specified in the same direction.

(P/S alarm No.047)

D Although Xp, Yp, or Zp is omitted, the basic three axes are not set.

(P/S alarm No.048)

D Alarm during

If one of the following G codes is specified in the three-dimensional tool

three-dimensional tool

compensation mode, an alarm is issued:

compensation

G05 High-speed cycle machining (P/S alarm178)

G31 Skip function (P/S alarm 036)

G51 Scaling (P/S alarm141)

358

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

D Commands that clear the

When one of the following G codes is specified in three-dimensional tool

vector

compensation mode, the vector is cleared:

G73

Peck drilling cycle

G74

Reverse tapping cycle

G76

Fine boring

G80

Canned cycle cancel

G81

Drill cycle, spot boring

G82

Drill cycle, counterboring

G83

Peck drilling cycle

G84

Tapping cycle

G85

Boring cycle

G86

Boring cycle

G87

Back boring cycle

G88

Boring cycle

G89

Boring cycle

G53

Machine coordinate system selection

D Commands that generate

When one of the following G codes is specified in three-dimensional tool

the same vector as the

compensation mode, the same vector as the vector generated in the

vector in the previous

previous block is generated at the end point of the next movement:

block

G02

Circular or helical interpolation (CW)

G03

Circular or helical interpolation (CCW)

G02.2

Involute interpolation (CW)

G03.2

Involute interpolation (CCW)

G04

Dwell

G10

Data setting

G22

Stored stroke check function enabled

359

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

Tool compensation values include tool geometry compensation

14.8

values and tool wear compensation (Fig. 14.8 (a)).

TOOL

COMPENSATION

VALUES, NUMBER

Reference position

OF COMPENSATION

ÇÇ

VALUES, AND

OFS_G

ÇÇ

ENTERING VALUES

ÇÇ

FROM THE

OFS_W

ÇÇ

OFS_G:Geometric compensation value

PROGRAM (G10)

OFS_W:Wear compensation value

Fig. 14.8 (a) Geometric compensation and wear compensation

Tool compensation values can be entered into CNC memory from the

CRT/MDI panel (see section III-11.4.1) or from a program.

A tool compensation value is selected from the CNC memory when the

corresponding code is specified after address H or D in a program.

The value is used for tool length compensation, cutter compensation, or

the tool offset.

Explanations

Table 14.8 (a) shows the valid input range of tool compensation values.

D Valid range of tool

compensation values

Table 14.8 (a) The valid input range of tool compensation value

In-

Geometric compensation value

Wear compensation value

cre-

ment

sys-

Metric input

Inch input

Metric input

Inch input

tem

IS-B

"999.999 mm

"99.9999inch

"99.999 mm

"9.9999 inch

IS-C

"999.9999 mm

"99.99999inch

"99.9999 mm

"9.99999 inch

D Number of tool

The memory can hold 32, 64, 99, 200, 400, 499, or 999 tool compensation

compensation values

values (option).

and the addresses to be

Address D or H is used in the program. The address used depends on

specified

which of the following functions is used: tool length compensation(see

II-14.1), tool offset (see II-14.3), cutter compensation B (see II- 14.4),

or cutter compensation C (see II-14.6).

The range of the number that comes after the address (D or H) depens on

the number of tool compensation values : 0 to 32, 0 to 64, 0 to 99, 0 to

200, 0 to 400, 0 to 499, or 0 to 999.

360

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

D Tool compensation

Tool compensation memory A, B, or C can be used.

memory and the tool

The tool compensation memory determines the tool compensation values

compensation value to

that are entered (set) (Table 14.8 (b)).

be entered

Table 14.8 (b) Setting contents tool compensation memory and tool compensation value

Tool compensation

Tool compensation value

memory A

memory B

memory C

Tool geometry compensation

Set tool geometry + tool

Set tool geometry com-

set

value for address D

wear compensation values

pensation values for ad-

for addresses D and H (val-

dresses D and H (values can

Tool geometry compensation

ues can be specified with ei-

be specified with either ad-

set

value for address H

ther address).

dress).

Tool wear compensation for

Set tool wear compensation

set

value address D

values for addresses D and

H (values can be specified

Tool wear compensation

with either address).

set

value for address H

Format

The programming format depends on which tool compensation memory

is used.

D Input of tool

compensation value by

Table 14.8 (c) Setting range of Tool compensation memory and

programing

Tool compensation value

Variety of tool compensation memory

Format

Tool compensation value (geometry com-

G10L11P_R_;

pensation value+wear compensation val-

ue)

Geometry compensation value

G10L10P_R_;

Wear compensation value

G10L11P_R_;

Geometry compensation value for H code

G10L10P_R_;

Geometry compensation value for D code

G10L12P_R_;

Wear compensation value for H code

G10L11P_R_;

Wear compensation value for D code

G10L13P_R_;

P : Number of tool compensation

R : Tool compensation value in the absolute command(G90) mode

Value to be added to the specified tool compensation value in the

incremental command(G91) mode (the sum is also a tool

compensation value.)

NOTE

To provide compatibility with the format of older CNC

programs, the system allows L1 to be specified instead of

L11.

361

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

A programmed figure can be magnified or reduced (scaling).

14.9

The dimensions specified with X_, Y_, and Z_ can each be scaled up or

SCALING

down with the same or different rates of magnification.

(G50, G51)

The magnification rate can be specified in the program.

Unless specified in the program, the magnification rate specified in the

parameter is applied.

P₄

P₄’

P₃’

P₀

P₂’

P₁’

P₂

P₁

P₀:Scaling center

Fig. 14.9 (a) Scaling(P₁ P₂ P₃ P₄³P_1’P_2’P_3’P_4’)

Format

SCALING UP OR DOWN ALONG ALL AXES

AT THE SAME RATE OF MAGNIFICATION

Format

Meaning of command

G51X_Y_Z_P_ ; Scaling start

X_Y_Z _ : Absolute command for

center coordinate value

Scaling is effective.

of scaling

(Scaling mode)

: Scaling magnification

G50 ;

Scaling cancel

Scaling up or down along each axes at a different

rate of magnification (mirror image)

Format

Meaning of command

G51_X_Y_Z_I_J_K_;Scaling start

X_Y_Z_ Absolute command for

center coordinate value

Scaling is effective.

of scaling

(Scaling mode)

I_J_K_ Scaling magnification for

X axis Y axis and Z axis

G50

Scaling cancel

respectively

WARNING

Specify G51 in a separate block. After the figure is enlarged

or reduced, specify G50 to cancel the scaling mode.

362

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

Explanations

D Scaling up or down

Least input increment of scaling magnification is: 0.001 or 0.00001 It is

along all axes at the

depended on parameter SCR (No. 5400#7) which value is selected. Then,

same rate of

set parameter SCLx (No.5401#0) to enable scaling for each axis. If

magnification

scaling P is not specified on the block of scaling (G51X_Y_Z_P_ ;), the

scaling magnification set to parameter (No. 5411) is applicable. If X,Y,Z

are omitted, the tool position where the G51 command was specified

serves as the scaling center.

D Scaling of each axis,

Each axis can be scaled by different magnifications. Also when a negative

programmable mirror

magnification is specified, a mirror image is applied. First of all, set a

image

parameter XSC (No. 5400#6) which validates each axis scaling (mirror

(negative magnification)

image).

Then, set parameter SCLx (No. 5401#0) to enable scaling along each axis.

Least input increment of scaling magnification of each axis (I, J, K) is

0.001 or 0.00001( set parameter SCR (No. 5400#7)).

Magnification is set to parameter 5421 within the range +0.00001 to

+9.99999 or +0.001 to +999.999

If a negative value is set, mirror image is effected.

If magnification I, J or K is not commanded, a magnification value set to

parameter (No. 5421) is effective. However, a value other than 0 must be

set to the parameter.

NOTE

Decimal point programming can not be used to specify the

rate of magnification (I, J, K).

a/b : Scaling magnification of X axis

c/d

: Scaling magnification of Y axis

0 : Scaling center

Y axis

Programmed figure

Scaled figure

X axis

Fig. 14.9 (b) Scaling of each axis

363

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

D Scaling of circular

Even if different magnifications are applie to each axis in circular

interpolation

interpolation, the tool will not trace an ellipse.

When different magnifications are applied to axes and a circular

interpolation is specified with radius R, it becomes as following figure

14.9 (c) (in the example shown below, a magnification of 2 is applied to

the X-component and a magnification of

1 is applied to the Y-

component.).

G90 G00 X0.0 Y100.0 ;

G51 X0.0 Y0.0 Z0.0 I2000 J1000;

G02 X100.0 Y0.0 R100.0 F500 ;

Above commands are equivalent to the following command:

G90 G00 X0.0 Y100.0 Z0.0 ;

G02 X200.0 Y0.0 R200.0 F500 ;

Magnification of radius R depends on I, or J whichever is larger.

Scaled shape

(0,0)

(100.0)

(200.0)

Fig. 14.9 (c) Scaling for circular interpolation1

When different magnifications are applied to axes and a circular

interpolation is specified with I, J and K, it becomes as following figure

14.9 (d) (In the example shown below, a magnification of 2 is applied to

the X-component and a magnification of 1 is applied to the

Y-component.).

G90 G00 X0.0 Y0.0 ;

G51 X0.0 Y0.0 I2000 J1000;

G02 X100.0 Y0.0 I0.0 J-100.0 F500 ;

Above commands are equivalent to the following commands.

G90 G00 X0.0 Y100.0;

G02 X200.0 Y0.0 I0.0 J-100.0 F500 ;

In this case, the end point does not beet the radius, a linear section is

included.

(200.0)

Scaled shape

(100.0)

(0,0)

(100.0)

(200.0)

Fig. 14.9 (d) Scaling for circular interpolation 2

364

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

D Tool compensation

This scaling is not applicable to cutter compensation values, tool length

offset values, and tool offset values (Fig. 14.9 (e) ).

Programmed figure

Scaled figure

Cutter compensation values are not scaled.

Fig. 14.9 (e) Scaling during cutter compensation

D Invalid scaling

Scaling is not applicable to the Z-axis movement in case of the following

canned cycle.

⋅Cut-in value Q and retraction value d of peck drilling cycle (G83, G73).

⋅Fine boring cycle (G76)

⋅Shift value Q of X and Y axes in back boring cycle (G87).

In manual operation, the travel distance cannot be increased or decreased

using the scaling function.

D Commands related to

In scaling mode, G28, G30, or commands related to the coordinate system

reference position return

(G52 to G59) must not be specified. When any of these G codes is

and coordinate system

necessary, specify it after canceling scaling mode.

WARNING

If a parameter setting value is employed as a scaling magnification without specifying P, the

setting value at G51 command time is employed as the scaling magnification, and a!change

of this value, if any, is not effective.

Before specifying the G code for reference position return (G27, G28, G29, G30) or!coordinate

system setting (G92), cancel the scaling mode.

If scaling results are rounded by counting fractions of 5 and over as a unit and disregarding

the rest, the move amount may become zero. In this case, the block is!regarded as a no

movement block, and therefore, it may affect the tool movement by!cutter compensation C. See

the description of blocks that do not move the tool at II-14.6.3.

365

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

NOTE

The position display represents the coordinate value after scaling.

When a mirror image was applied to one axis of the specified plane, the following!results:

(1)Circular command Direction of rotation is reversed.

(2)Cutter compensation C .

Offset direction is reversed.

(3)Coordinate system rotation .

Rotation angle is reversed.

(4)Cutter compensation B .

Offset direction is reversed. (Including G39)

Examples

Example of a mirror image program

Subprogram

O9000 ;

G00 G90 X60.0 Y60.0;

G01 X100.0 F100;

G01 Y100.0;

G01 X60.0 Y60.0;

M99;

Main program

N10 G00 G90;

N20M98P9000;

N30 G51 X50.0 Y50.0 I-1000 J1000;

N40 M98 P9000;

N50 G51 X50.0 Y50.0 I-1000 J-1000;

N60 M98 P9000;

N70 G51 X50.0 Y50.0 I1000 J-1000

N80 M98 P9000;

N90 G50;

100

Fig. 14.9 (f) Example of a mirror image program

366

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

A programmed shape can be rotated. By using this function it becomes

14.10

possible, for example, to modify a program using a rotation command

COORDINATE

when a workpiece has been placed with some angle rotated from the

SYSTEM ROTATION

programmed position on the machine.Further, when there is a pattern

comprising some identical shapes in the positions rotated from a shape,

(G68, G69)

the time required for programming and the length of the program can be

reduced by preparing a subprogram of the shape and calling it after

rotation.

Angle of rotation

Center of rotation

Fig. 14.10 (a) Coordinate system rotation

Format

G17

G18

G68 α_β_R_ ; Start rotation of a coordinate system.

G19

Coordinate system rotation mode

(The coordinate system is rotated.)

G69 ;

Coordinate system rotation cancel command

Meaning of command

G17 (G18 or G19)

: Select the plane in which contains the figure to be

rotated.

α_β_

Absolute command for two of the x_,y_,and Z_ axes

that correspond to the current plane selected by a

command (G17, G18, or G19). The command

specifies the coordinates of the center of rotation for

the values

specified subsequent to G68.

Angular displacement with a positive value indicates

counter clockwise rotation. Bit 0 of parameter 5400

selects whether the specified angular displacement is

alwarys considered an absolute value or is considered

an absolute or incremental value depending on the

specified G code (G90 or G91).

Least input increment:

0.001 deg

Valid data range

-360,000 A360,000

367

14. COMPENSATION FUNCTION

PROGRAMMING

B-63534EN/02

Angle of rotation R (incremental value)

Center of

Angle of rotation (absolute value)

rotation

(α, β)

Fig. 14.10 (b) Coordinate system rotation

NOTE

When a decimal fraction is used to specify angular

displacement (R_), the 1’s digit corresponds to degree

units.

Explanations

D G code for selecting a

The G code for selecting a plane (G17,G18,or G19) can be specified

plane: G17,G18 or G19

before the block containing the G code for coordinate system rotation

(G68). G17, G18 or G19 must not be designated in the mode of coordinate

system rotation.

D Incremental command in

The center of rotation for an incremental command programmed after

coordinate system

G68 but before an absolute command is the tool position when G68 was

rotation mode

programmed (Fig. 14.10 (c)).

D Center of rotation

When α_β_ is not programmed, the tool position when G68 was

programmed is assumed as the center of rotation.

D Angular displacement

When R_ is not specified, the value specified in parameter 5410 is

assumed as the angular displacement.

D Coordinate system

The G code used to cancel coordinate system rotation (G69) may be

rotation cancel

specified in a block in which another command is specified.

command

D Tool compensation

Cutter compensation, tool length compensation, tool offset, and other

compensation operations are executed after the coordinate system is

rotated.

D Relationship with

Both coordinate system rotation and three-dimensional coordinate

three-dimensional

conversion use the same G codes: G68 and G69. The G code with I, J,

coordinate conversion

and K is processed as a command for three-dimensional coordinate

(G68, G69)

conversion. The G code without I, J, and K is processed as a command

for two-dimensional coordinate system rotation.

368

B-63534EN/02

PROGRAMMING

14. COMPENSATION FUNCTION

Limitations

D Commands related to

In coordinate system rotation mode, G codes related to reference position

reference position return

return (G27, G28, G29, G30, etc.) and those for changing the coordinate

and the coordinate

system (G52 to G59, G92, etc.) must not be specified. If any of these G

system

codes is necessary, specify it only after canceling coordinate system

rotation mode.

The first move command after the coordinate system rotation cancel

D Incremental command

command (G69) must be specified with absolute values. If an incremental

move command is specified, correct movement will not be performed.

Explanations

Absolute/Incremental

position commands

N1 G92 X*5000 Y*5000 G69 G17 ;

N2 G68 X7000 Y3000 R60000 ;

N3 G90 G01 X0 Y0 F200 ;

(G91X5000Y5000)

N4 G91 X10000 ;

N5 G02 Y10000 R10000 ;

N6 G03 X*10000 I*5000 J*5000 ;

N7 G01 Y*10000 ;

N8 G69 G90 X*5000 Y*5000 M02 ;

Tool path when the incremental

command is designated in the N3

block (in parenthesis)

Originally programmed tool path

Center of rotation

(7000,3000)

(0,0)

60,

(-500.0,-500.0)

Tool path after rotation

Fig. 14.10 (c) Absolute/incremental command during

coordinate system rotation

369

FANUC Series 16i/160i/160is-MB, Series 18i/180i/180is-MB5, Series 18i/180i/180is-MB. Operator's Manual - page 13