FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. OPERATOR'S MANUAL

1.GENERAL

GENERAL

B-64304EN/02

Manual name

Specification number

FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series

FANUC LINEAR MOTOR LiS series

B-65270EN

FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series

PARAMETER MANUAL

FANUC AC SPINDLE MOTOR αi/βi series,

BUILT-IN SPINDLE MOTOR Bi series

B-65280EN

PARAMETER MANUAL

This manual mainly assumes that the FANUC SERVO MOTOR αi series of servo motor is used. For

servo motor and spindle information, refer to the manuals for the servo motor and spindle that are actually

connected.

1.1

NOTES ON READING THIS MANUAL

CAUTION

1 The function of an CNC machine tool system depends not only on the CNC, but

on the combination of the machine tool, its magnetic cabinet, the servo system,

the CNC, the operator's panels, etc. It is too difficult to describe the function,

programming, and operation relating to all combinations. This manual generally

describes these from the stand-point of the CNC. So, for details on a particular

CNC machine tool, refer to the manual issued by the machine tool builder, which

should take precedence over this manual.

2 In the header field of each page of this manual, a chapter title is indicated so that

the reader can reference necessary information easily.

By finding a desired title first, the reader can reference necessary parts only.

3 This manual describes as many reasonable variations in equipment usage as

possible. It cannot address every combination of features, options and commands

that should not be attempted.

If a particular combination of operations is not described, it should not be attempted.

1.2

NOTES ON VARIOUS KINDS OF DATA

CAUTION

Machining programs, parameters, offset data, etc. are stored in the CNC unit

internal non-volatile memory. In general, these contents are not lost by the

switching ON/OFF of the power. However, it is possible that a state can occur

where precious data stored in the non-volatile memory has to be deleted,

because of deletions from a maloperation, or by a failure restoration. In order to

restore rapidly when this kind of mishap occurs, it is recommended that you

create a copy of the various kinds of data beforehand.

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PROGRAMMING

1.GENERAL

1 GENERAL

Chapter 1, "GENERAL", consists of the following sections:

1.1 TOOL MOVEMENT ALONG WORKPIECE PARTS FIGURE-INTERPOLATION

1.2 FEED-FEED FUNCTION

1.3 PART DRAWING AND TOOL MOVEMENT

1.4 CUTTING SPEED - SPINDLE FUNCTION

1.5 SELECTION OF TOOL USED FOR VARIOUS MACHINING - TOOL FUNCTION

1.6 COMMAND FOR MACHINE OPERATIONS - AUXILIARY FUNCTION

1.7 PROGRAM CONFIGURATION

1.8 TOOL MOVEMENT RANGE - STROKE

1.1

TOOL MOVEMENT ALONG WORKPIECE PARTS FIGURE-

INTERPOLATION

The tool moves along straight lines and arcs constituting the workpiece parts figure (See II-4).

Explanation

The function of moving the tool along straight lines and arcs is called the interpolation.

Tool movement along a straight line

• For milling machining

Tool

Program

G01X_Y_ ;

X_ ;

Workpiece

• For lathe cutting

Program

Tool

G01Z_ ;

G01X_Z_ ;

Workpiece

Fig. 1.1 (a) Tool movement along a straight line

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1.GENERAL

PROGRAMMING

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Tool movement along an arc

• For milling machining

Program

G03 X_ Y_ R_ ;

Tool

Workpiece

• For lathe cutting

Program

G02 X_ Z_ R_ ;

G03 X_ Z_ R_ ;

Workpiece

Fig. 1.1 (b) Tool movement along an arc

The term interpolation refers to an operation in which the tool moves along a straight line or arc in the

way described above.

Symbols of the programmed commands G01, G02, ... are called the preparatory function and specify the

type of interpolation conducted in the control unit.

(a) Movement along straight line

(b) Movement along arc

G01 Y_ ;

G03X_ Y_ R_ ;

X_ Y_ ;

CNC

X axis

Tool

Interpolation

movement

Y axis

a) Movement

along straight

line

b) Movement

along arc

Fig. 1.1 (c) Interpolation function

NOTE

Some machines move workpieces instead of tools but this manual assumes that

tools are moved against workpieces.

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PROGRAMMING

1.GENERAL

1.2

FEED-FEED FUNCTION

Movement of the tool at a specified speed for cutting a workpiece is called the feed.

• For milling machining

mm/min

Tool

Workpiece

Table

• For lathe cutting

mm/min

Tool

Workpiece

Chuck

Fig. 1.2 (a) Feed function

Feedrates can be specified by using actual numerics. For example, to feed the tool at a rate of 150

mm/min, specify the following in the program:

F150.0

The function of deciding the feed rate is called the feed function (See II-5).

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1.GENERAL

PROGRAMMING

B-64304EN/02

1.3

PART DRAWING AND TOOL MOVEMENT

1.3.1

Reference Position (Machine-specific Position)

A CNC machine tool is provided with a fixed position. Normally, tool change and programming of

absolute zero point as described later are performed at this position. This position is called the reference

position.

• For milling machining

Reference position

Tool

Workpiece

Table

• For lathe cutting

Tool post

Chuck

Reference

position

Fig. 1.3.1 (a) Reference position

Explanation

The tool can be moved to the reference position in two ways:

Manual reference position return (See III-3.1)

Reference position return is performed by manual button operation.

Automatic reference position return (See II-6)

In general, manual reference position return is performed first after the power is turned on. In order

to move the tool to the reference position for tool change thereafter, the function of automatic

reference position return is used.

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1.GENERAL

PROGRAMMING

B-64304EN/02

Explanation

Coordinate system

The following two coordinate systems are specified at different locations: (See II-7)

Coordinate system on part drawing

The coordinate system is written on the part drawing. As the program data, the coordinate values on

this coordinate system are used.

Coordinate system specified by the CNC

The coordinate system is prepared on the actual machine tool table. This can be achieved by

programming the distance from the current position of the tool to the zero point of the coordinate

system to be set.

230

Present tool position

300

Distance to the zero point of a

coordinate system to be set

Program

origin

Fig. 1.3.2 (b) Coordinate system specified by the CNC

Concrete programming methods for setting coordinate systems specified by the CNC are explained in II-7,

"COORDINATE SYSTEM".

The positional relation between these two coordinate systems is determined when a workpiece is set on

the table.

• For milling machining

Coordinate system on part drawing

established on the workpiece

Coordinate system

specified by the CNC

established on the table

Y Y

Workpiece

Table

• For lathe cutting

Coordinate system specified by

Coordinate system on part drawing

the CNC established on the chuck

established on the workpiece

Workpiece

Chuck

Fig. 1.3.2 (c) Coordinate system specified by CNC and coordinate system on part drawing

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PROGRAMMING

1.GENERAL

The tool moves on the coordinate system specified by the CNC in accordance with the command program

generated with respect to the coordinate system on the part drawing, and cuts a workpiece into a shape on

the drawing.

Therefore, in order to correctly cut the workpiece as specified on the drawing, the two coordinate systems

must be set at the same position.

Methods of setting the two coordinate systems in the same position

To set the two coordinate systems at the same position, simple methods shall be used according to

workpiece shape, the number of machinings.

(1) Using a standard plane and point of the workpiece.

Workpiece's

Fixed distance

standard point

Fixed distance

Program

origin

Bring the tool center to the workpiece standard point.

And set the coordinate system specified by CNC at this position.

(2) Mounting a workpiece directly against the jig

Program origin

Jig

Meet the tool center to the reference position. And set the coordinate

system specified by CNC at this position. (Jig shall be mounted on the

predetermined point from the reference position.)

(3) Mounting a workpiece on a pallet, then mounting the workpiece and pallet on the jig

Pallet

Jig

Workpiece

(Jig and coordinate system shall be specified by the same as (2)).

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1.GENERAL

PROGRAMMING

B-64304EN/02

The following method is usually used to define two coordinate systems at the same location.

When coordinate zero point is set at chuck face

- Coordinates and

dimensions on part drawing

Workpiece

150

- Coordinate system on

lathe as specified by CNC

Chuck

Workpiece

Program origin

When the coordinate system on the part drawing and the coordinate system specified by the CNC are set

at the same position, the program origin can be set on the chuck face.

When coordinate zero point is set at workpiece end face.

- Coordinates and dimensions

on part drawing

Workpiece

100

- Coordinate system on lathe

as specified by CNC

Chuck

Workpiece

Program origin

When the coordinate system on the part drawing and the coordinate system specified by the CNC are set

at the same position, the program origin can be set on the end face of the workpiece.

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PROGRAMMING

1.GENERAL

1.3.3

How to Indicate Command Dimensions for Moving the Tool

(Absolute, Incremental Commands)

Explanation

Command for moving the tool can be indicated by absolute command or incremental command (See II-

8.1).

Absolute command

The tool moves to a point at "the distance from zero point of the coordinate system" that is to the position

of the coordinate values.

• For milling machining

Tool

B(10.0,30.0,5.0)

Command specifying movement from G90 X10.0 Y30.0 Z5.0 ;

point A to point B

Coordinates of point B

• For lathe cutting

Tool

Workpiece

φ30

110

Command specifying movement from point A to

point B

X30.0Z70.0;

Coordinates of point B

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1.GENERAL

PROGRAMMING

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Incremental command

Specify the distance from the previous tool position to the next tool position.

• For milling machining

Tool

X=40.0

Z=-10.0

Y-30.0

Command specifying movement from

G91 X40.0 Y-30.0 Z-10.0 ;

point A to point B

Distance and direction for

movement along each axis

•

For lathe cutting

Tool

-30.0 (diameter value)

Workpiece

φ60

φ30

-40.0

Command specifying movement from point

A to point B

U-30.0 W-40.0

Distance and direction for movement along each axis

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PROGRAMMING

1.GENERAL

Diameter programming / radius programming

Dimensions of the X axis can be set in diameter or in radius. Diameter programming or radius

programming is employed independently in each machine.

Diameter programming

In diameter programming, specify the diameter value indicated on the drawing as the value of the X

axis.

Workpiece

φ40

φ30

Coordinate values of points A and B A(30.0, 80.0), B(40.0, 60.0)

Radius programming

In radius programming, specify the distance from the center of the workpiece, i.e. the radius value as

the value of the X axis.

Workpiece

Coordinate values of points A and B A(15.0, 80.0), B(20.0, 60.0)

1.4

CUTTING SPEED - SPINDLE FUNCTION

The speed of the tool with respect to the workpiece when the workpiece is cut is called the cutting speed.

As for the CNC, the cutting speed can be specified by the spindle speed in min^-1 unit.

• For milling machining

Tool

Tool diameter

Spindle speed N

φD mm

min^-1

V: Cutting speed

m/min

Workpiece

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1.GENERAL

PROGRAMMING

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The spindle speed is approximately 250 min^-1, which is obtained from N=1000v/πD. Hence the following

command is required:

S250;

Commands related to the spindle speed are called the spindle speed function (See II-9).

• For lathe cutting

Tool

Cutting speed

v m/min

Spindle speed

N min^-1

Workpiece

φD

The spindle speed is approximately 478 min^-1, which is obtained from N=1000v/πD. Hence the following

command is required:

S478;

Commands related to the spindle speed are called the spindle speed function (See II-9).

The cutting speed v (m/min) can also be specified directly by the speed value. Even when the workpiece

diameter is changed, the CNC changes the spindle speed so that the cutting speed remains constant.

This function is called the constant surface speed control function (See II-9.3).

1.5

SELECTION OF TOOL USED FOR VARIOUS MACHINING -

TOOL FUNCTION

Overview

For each of various types of machining (such as drilling, tapping, boring, and milling for milling

machining, or rough machining, semifinish machining, finish machining, threading, and grooving for

turning), a necessary tool is to be selected. When a number is assigned to each tool and the number is

specified in the program, the corresponding tool is selected.

Examples

Tool number

ATC magazine

Fig. 1.5 (a) Tool used for various machining

When the tool is stored at location 01 in the ATC magazine, the tool can be selected by specifying T01.

This is called the tool function (See II-10).

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PROGRAMMING

1.GENERAL

Tool number

Tool post

Fig. 1.5 (b) Tool used for various machining

When the tool is stored at location 01 of the tool post, the tool can be selected by specifying T0101. This

is called the tool function (See II-10).

1.6

COMMAND FOR MACHINE OPERATIONS - AUXILIARY

FUNCTION

When a workpiece is actually machined with a tool, the spindle is rotated, coolant is supplied, and the

chuck is opened/closed. So, control needs to be exercised on the spindle motor of the machine, coolant

valve on/off operation, and chuck open/close operation.

• For milling machining

Tool

Spindle

rotation

Coolant on/off

Workpiece

• For lathe cutting

Coolant on/off

Chuck open/close

Spindle rotation

Workpiece

Fig. 1.6 (a) Auxiliary function

The function of specifying the on-off operations of the components of the machine is called the auxiliary

function. In general, the function is specified by an M code (See II-11).

For example, when M03 is specified, the spindle is rotated clockwise at the specified spindle speed.

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1.GENERAL

PROGRAMMING

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1.7

PROGRAM CONFIGURATION

A group of commands given to the CNC for operating the machine is called the program. By specifying

the commands, the tool is moved along a straight line or an arc, or the spindle motor is turned on and off.

In the program, specify the commands in the sequence of actual tool movements.

Block

Tool movement

sequence

Block

Program

Block

Fig. 1.7 (a) Program configuration

A group of commands at each step of the sequence is called the block. The program consists of a group of

blocks for a series of machining. The number for discriminating each block is called the sequence number,

and the number for discriminating each program is called the program number (See II-13).

Explanation

The block and the program have the following configurations.

Block

1 block

Nxxxx

Gxx

Xxxx.x Yxxx.x

Mxx

Sxx

Txx

;

Sequence

Preparatory

Dimension word

Auxiliary Spindle Tool

number

function

function function

End of block

Fig. 1.7 (b) Block configuration

A block starts with a sequence number to identify the block and ends with an end-of-block code.

This manual indicates the end-of-block code by; (LF in the ISO code and CR in the EIA code).

The contents of the dimension word depend on the preparatory function. In this manual, the portion of the

dimension word may be represent as IP_.

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PROGRAMMING

1.GENERAL

Program

;

Oxxxx ;

Program number

Block

M30 ;

End of program

Fig. 1.7 (c) Program configuration

Normally, a program number is specified after the end-of-block (;) code at the beginning of the program,

and a program end code (M02 or M30) is specified at the end of the program.

Main program and subprogram

When machining of the same pattern appears at many portions of a program, a program for the pattern is

created. This is called the subprogram. On the other hand, the original program is called the main

program. When a subprogram execution command appears during execution of the main program,

commands of the subprogram are executed. When execution of the subprogram is finished, the sequence

returns to the main program.

Main program

Subprogram #1

M98P1001

O1001

M99

M98P1002

Subprogram #2

M98P1001

O1002

M99

Fig. 1.7 (d) Subprogram execution

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1.GENERAL

PROGRAMMING

B-64304EN/02

1.8

TOOL MOVEMENT RANGE - STROKE

Limit switches are installed at the ends of each axis on the machine to prevent tools from moving beyond

the ends. The range in which tools can move is called the stroke.

Motor

Limit

switch

Stroke area

Besides strokes defined with limit switches, the operator can define an area which the tool cannot enter

using a program or data in memory. This function is called stroke check (see III-6.3).

Motor

Limit

switch

Machine zero point

Specify these distances.

Tools cannot enter this area. The area is

specified by data in memory or a program.

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PROGRAMMING

2.CONTROLLED AXES

2 CONTROLLED AXES

Chapter 2, "CONTROLLED AXES", consists of the following sections:

2.1 NUMBER OF CONTROLLED AXES

2.2 NAMES OF AXES

2.3 INCREMENT SYSTEM

2.4 MAXIMUM STROKE

2.1

NUMBER OF CONTROLLED AXES

Explanation

The number of controlled axes used with this NC system depends on the model and control type as

indicated below.

Series 0i -D

Item

M series

T series

Controlled path

1 path

2 paths

Total number of controlled

Max. 11 axes

axes

Max. 8 axes

(Total of two path)

(feed axes + spindle axes)

Total feed axes

Max. 9 axes

Max. 7 axes

(Total of two path)

Feed axes (for each path)

Max. 7 axes

Simultaneously controlled

Max. 4 axes

axes (for each path)

Max. 4 axes at a time

Axis control by PMC

(Not available on Cs axis)

Designation of spindle axes

2 axes

Max. 3 axes

Max. 3 axes/4 axes

(each path/total)

Cs contour control (each

2 axes

Max. 3 axes

Max. 3 axes/4 axes

path/total)

Series 0i Mate -D

Item

M series

T series

Controlled path

1 path

Total number of controlled axes

Max. 5 axes

(feed axes + spindle axes)

Total feed axes

Max. 4 axes

Max. 3 axes

Feed axes (for each path)

Max. 4 axes

Max. 3 axes

Simultaneously controlled axes

Max. 3 axes

Max. 3 axes at a time

Axis control by PMC

Max. 4 axes at a time

(Not available on Cs axis)

Designation of spindle axes

1 axis

Max. 2 axes

Cs contour control

Max. 1 axis

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2.CONTROLLED AXES

PROGRAMMING

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NOTE

1 The maximum number of available controlled axes is limited according to the

option configuration. Refer to the manual provided by the machine tool builder

for details.

2 The number of simultaneously controllable axes for manual operation (jog feed,

manual reference position return, or manual rapid traverse) is 1 or 3 (1 when bit

0 (JAX) of parameter No. 1002 is set to 0 and 3 when it is set to 1).

2.2

NAMES OF AXES

Explanation

The move axes of machine tools are assigned names. These names are referred to as addresses or axis

names. Axis names are determined according to the machine tool. The naming rules comply with

standards such as the ISO standards.

NOTE

Axis names are predetermined according to the machine used. Refer to the

manual supplied by the machine tool builder.

2.3

INCREMENT SYSTEM

Explanation

The increment system consists of the least input increment (for input) and least command increment (for

output). The least input increment is the least increment for programming the travel distance. The least

command increment is the least increment for moving the tool on the machine. Both increments are

represented in mm, inches, or deg.

Three types of increment systems are available as indicated in Table 2.3 (a). For each axis, an increment

system can be set using a bit from bit 0 and bit 1 (ISA or ISC) of parameter No. 1013.

Table 2.3 (a) Increment system

Name of increment system

Least input increment

Least command increment

0.01

IS-A

0.001

inch

0.001

inch

0.01

deg

0.01

deg

0.001

IS-B

0.0001

inch

0.0001

inch

0.001

deg

0.001

deg

0.0001

IS-C

0.00001

inch

0.00001

inch

0.0001

deg

0.0001

deg

The least command increment is either metric or inch depending on the machine tool. Set metric or inch

to the parameter INM (No.0100#0).

For selection between metric and inch for the least input increment, G code (G20 or G21) or a setting

parameter selects it.

Combined use of the inch system and the metric system is not allowed. There are functions that cannot be

used between axes with different unit systems (circular interpolation, cutter compensation (M series),

etc.). For the increment system, see the machine tool builder's manual.

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PROGRAMMING

2.CONTROLLED AXES

NOTE

An increment (in millimeters or inches) in the table indicates a diameter value

when diameter specification is performed (bit 3 (DIA) of parameter No. 1006 is 1)

or a radius value when radius specification is performed (bit 3 (DIA) of parameter

No. 1006 is 0).

2.4

MAXIMUM STROKE

Explanation

The maximum stroke controlled by this CNC is shown in the table below:

Maximum stroke = Least command increment × 999999999

(99999999 for IS-A)

Commands that exceed the maximum stroke are not permitted.

Table 2.4 (a) Maximum strokes

Name of increment system

Least input increment

Maximum stroke

0.01

±999999.99 mm

IS-A

0.001

inch

±99999.999 inch

0.01

deg

±999999.99 deg

0.001

±999999.999 mm

IS-B

0.0001

inch

±99999.9999 inch

0.001

deg

±999999.999 deg

0.0001

±99999.9999 mm

IS-C

0.00001

inch

±9999.99999 inch

0.0001

deg

±99999.9999 deg

NOTE

1 The actual stroke depends on the machine tool.

2 An increment (in millimeters or inches) in the table indicates a diameter value

when diameter specification is performed (bit 3 (DIA) of parameter No. 1006 is 1)

or a radius value when radius specification is performed (bit 3 (DIA) of parameter

No. 1006 is 0).

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3. PREPARATORY FUNCTION

(G FUNCTION)

PROGRAMMING

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3 PREPARATORY FUNCTION

(G FUNCTION)

A number following address G determines the meaning of the command for the concerned block.

G codes are divided into the following two types.

Type

Meaning

One-shot G code

The G code is effective only in the block in which it is specified.

Modal G code

The G code is effective until another G code of the same group is specified.

(Example)

G01 and G00 are modal G codes in group 01.

G01 X_ ;

Z_ ;

G01 is effective in this range.

X_ ;

G00 Z_ ; G00 is effective in this range.

X_ ;

G01 X_ ;

There are three G code systems in the T series: A, B, and C (Table 3.2(a)). Select a G code system using

bits 6 (GSB) and 7 (GSC) of parameter No. 3401. Generally, OPERATOR’S MANUAL describes the use

of G code system A, except when the described item can use only G code system B or C. In such cases,

the use of G code system B or C is described.

Explanation

When the clear state (bit 6 (CLR) of parameter No. 3402) is set at power-up or reset, the modal G

codes are placed in the states described below.

(1) The modal G codes are placed in the states marked with

as indicated in Table.

(2) G20 and G21 remain unchanged when the clear state is set at power-up or reset.

(3) Which status G22 or G23 at power on is set by bit 7 (G23) of parameter No. 3402. However,

G22 and G23 remain unchanged when the clear state is set at reset.

(4) The user can select G00 or G01 by setting parameter G01 (No. 3402#0).

(5) The user can select G90 or G91 by setting parameter G91 (No. 3402#3).

When G code system B or C is used in the T series, setting bit 3 (G91) of parameter No. 3402

determines which code, either G90 or G91, is effective.

(6) In the M series, the user can select G17, G18, or G19 by setting bits 1 (G18) and 2 (G19) of

parameter No. 3401.

G codes other than G10 and G11 are one-shot G codes.

When a G code not listed in the G code list is specified, or a G code that has no corresponding

option is specified, alarm PS0010 occurs.

Multiple G codes can be specified in the same block if each G code belongs to a different group. If

multiple G codes that belong to the same group are specified in the same block, only the last G code

specified is valid.

If a G code belonging to group 01 is specified in a canned cycle for drilling, the canned cycle for

drilling is cancelled. This means that the same state set by specifying G80 is set. Note that the G

codes in group 01 are not affected by a G code specifying a canned cycle for drilling.

G codes are indicated by group.

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3.PREPARATORY FUNCTION

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PROGRAMMING

(G FUNCTION)

The group of G60 (M series) is switched according to the setting of bit 0 (MDL) of parameter No.

5431. (When the MDL bit is set to 0, the 00 group is selected. When the MDL bit is set to 1, the 01

group is selected.)

For G code system A in the T series, the absolute/incremental command is identified by the address

word (X/U, Z/W, C/H, Y/V) instead of the G code (G90/G91). Only the initial level is provided at

the return point of the canned cycle for drilling..

3.1

G CODE LIST IN THE M SERIES

Table 3.1 (a) G code list

G code

Group

Function

G00

Positioning (rapid traverse)

G01

Linear interpolation (cutting feed)

G02

Circular interpolation CW or helical interpolation CW

G03

Circular interpolation CCW or helical interpolation CCW

G04

Dwell, Exact stop

G05.1

AI advanced preview control / AI contour control

G05.4

HRV3 on/off

G07.1 (G107)

Cylindrical interpolation

G09

Exact stop

G10

Programmable data input

G11

Programmable data input mode cancel

G15

Polar coordinates command cancel

G16

Polar coordinates command

G17

XpYp plane selection

Xp: X axis or its parallel axis

G18

ZpXp plane selection

Yp: Y axis or its parallel axis

G19

YpZp plane selection

Zp: Z axis or its parallel axis

G20

Input in inch

G21

Input in mm

G22

Stored stroke check function on

G23

Stored stroke check function off

G27

Reference position return check

G28

Automatic return to reference position

G29

Movement from reference position

G30

2nd, 3rd and 4th reference position return

G31

Skip function

G33

Threading

G37

Automatic tool length measurement

G39

Cutter compensation : corner circular interpolation

G40

Cutter compensation : cancel

G41

Cutter compensation : left

G42

Cutter compensation : right

G40.1

Normal direction control cancel mode

G41.1

Normal direction control on : left

G42.1

Normal direction control on : right

G43

Tool length compensation +

G44

Tool length compensation -

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3. PREPARATORY FUNCTION

(G FUNCTION)

PROGRAMMING

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Table 3.1 (a) G code list

G code

Group

Function

G45

Tool offset : increase

G46

Tool offset : decrease

G47

Tool offset : double increase

G48

Tool offset : double decrease

G49

Tool length compensation cancel

G50

Scaling cancel

G51

Scaling

G50.1

Programmable mirror image cancel

G51.1

Programmable mirror image

G52

Local coordinate system setting

G53

Machine coordinate system setting

G54

Workpiece coordinate system 1 selection

G54.1

Additional workpiece coordinate system selection

G55

Workpiece coordinate system 2 selection

G56

Workpiece coordinate system 3 selection

G57

Workpiece coordinate system 4 selection

G58

Workpiece coordinate system 5 selection

G59

Workpiece coordinate system 6 selection

G60

Single direction positioning

G61

Exact stop mode

G62

Automatic corner override

G63

Tapping mode

G64

Cutting mode

G65

Macro call

G66

Macro modal call

G67

Macro modal call cancel

G68

Coordinate system rotation mode on

G69

Coordinate system rotation mode off

G73

Peck drilling cycle

G74

Left-handed tapping cycle

G75

Plunge grinding cycle (for grinding machine)

G76

Fine boring cycle

G77

Plunge direct sizing/grinding cycle (for grinding machine)

G78

Continuous-feed surface grinding cycle (for grinding machine)

G79

Intermittent-feed surface grinding cycle (for grinding machine)

G80

Canned cycle cancel

Electronic gear box : synchronization cancellation

G80.4

Electronic gear box : synchronization cancellation

G81.4

Electronic gear box : synchronization start

Drilling cycle or spot boring cycle

G81

Electronic gear box : synchronization start

G82

Drilling cycle or counter boring cycle

G83

Peck drilling cycle

G84

Tapping cycle

G84.2

Rigid tapping cycle (FS10/11 format)

G84.3

Left-handed rigid tapping cycle (FS10/11 format)

G85

Boring cycle

G86

Boring cycle

G87

Back boring cycle

G88

Boring cycle

G89

Boring cycle

G90

Absolute programming

G91

Incremental programming

- 30 -

3.PREPARATORY FUNCTION

B-64304EN/02

PROGRAMMING

(G FUNCTION)

Table 3.1 (a) G code list

G code

Group

Function

G91.1

Checking the maximum incremental amount specified

G92

Setting for workpiece coordinate system or clamp at maximum spindle speed

G92.1

Workpiece coordinate system preset

G93

Inverse time feed

G94

Feed per minute

G95

Feed per revolution

G96

Constant surface speed control

G97

Constant surface speed control cancel

G98

Canned cycle : return to initial level

G99

Canned cycle : return to R point level

G160

In-feed control cancel (for grinding machine)

G161

In-feed control (for grinding machine)

3.2

G CODE LIST IN THE T SERIES

Table 3.2 (a) G code list

G code system

Group

Function

G00

Positioning (Rapid traverse)

G01

Linear interpolation (Cutting feed)

G02

Circular interpolation CW or helical interpolation CW

G03

Circular interpolation CCW or helical interpolation CCW

G04

Dwell

G05.4

HRV3 on/off

G07.1

Cylindrical interpolation

(G107)

G08

Advanced preview control

G09

Exact stop

G10

Programmable data input

G11

Programmable data input mode cancel

G12.1

Polar coordinate interpolation mode

(G112)

G13.1

Polar coordinate interpolation cancel mode

(G113)

G17

XpYp plane selection

G18

ZpXp plane selection

G19

YpZp plane selection

G20

G70

Input in inch

G21

G71

Input in mm

G22

Stored stroke check function on

G23

Stored stroke check function off

G25

Spindle speed fluctuation detection off

G26

Spindle speed fluctuation detection on

G27

Reference position return check

G28

Return to reference position

G30

2nd, 3rd and 4th reference position return

G31

Skip function

- 31 -

3. PREPARATORY FUNCTION

(G FUNCTION)

PROGRAMMING

B-64304EN/02

Table 3.2 (a) G code list

G code system

Group

Function

G32

G33

Threading

G34

Variable lead threading

G36

Automatic tool offset (X axis)

G37

Automatic tool offset (Z axis)

G39

Tool nose radius compensation: corner rounding interpolation

G40

Tool nose radius compensation : cancel

G41

Tool nose radius compensation : left

G42

Tool nose radius compensation : right

G50

G92

Coordinate system setting or max spindle speed clamp

G50.3

G92.1

Workpiece coordinate system preset

G50.2

Polygon turning cancel

(G250)

G51.2

Polygon turning

(G251)

G50.4

Cancel synchronous control

G50.5

Cancel composite control

G50.6

Cancel superimposed control

G51.4

Start synchronous control

G51.5

Start composite control

G51.6

Start superimposed control

G52

Local coordinate system setting

G53

Machine coordinate system setting

G54

Workpiece coordinate system 1 selection

G55

Workpiece coordinate system 2 selection

G56

Workpiece coordinate system 3 selection

G57

Workpiece coordinate system 4 selection

G58

Workpiece coordinate system 5 selection

G59

Workpiece coordinate system 6 selection

G61

Exact stop mode

G63

Tapping mode

G64

Cutting mode

G65

Macro call

G66

Macro modal call

G67

Macro modal call cancel

G68

Mirror image on for double turret or balance cutting mode

Mirror image off for double turret or balance cutting mode

G69

cancel

G70

G72

Finishing cycle

G71

G73

Stock removal in turning

G72

G74

Stock removal in facing

G73

G75

Pattern repeating cycle

G74

G76

End face peck drilling cycle

G75

G77

Outer diameter/internal diameter drilling cycle

G76

G78

Multiple-thread cutting cycle

G71

G72

Traverse grinding cycle (for grinding machine)

G72

G73

Traverse direct sizing/grinding cycle (for grinding machine)

G73

G74

Oscillation grinding cycle (for grinding machine)

G74

G75

Oscillation direct sizing/grinding cycle (for grinding machine)

- 32 -

3.PREPARATORY FUNCTION

B-64304EN/02

PROGRAMMING

(G FUNCTION)

Table 3.2 (a) G code list

G code system

Group

Function

G80

Canned cycle cancel for drilling

G80

Electronic gear box : synchronization cancellation

Spot drilling (FS10/11-T format)

G81

Electronic gear box : synchronization start

G82

Counter boring (FS10/11-T format)

G83

Cycle for face drilling

G83.1

High-speed peck drilling cycle (FS10/11-T format)

G84

Cycle for face tapping

G84.2

Rigid tapping cycle (FS10/11-T format)

G85

Cycle for face boring

G87

Cycle for side drilling

G88

Cycle for side tapping

G89

Cycle for side boring

G90

G77

G20

Outer diameter/internal diameter cutting cycle

G92

G78

G21

Threading cycle

G94

G79

G24

End face turning cycle

G91.1

Maximum specified incremental amount check

G96

Constant surface speed control

G97

Constant surface speed control cancel

G96.1

Spindle indexing execution (waiting for completion)

G96.2

Spindle indexing execution (not waiting for completion)

G96.3

Spindle indexing completion check

G96.4

SV speed control mode ON

G98

G94

Feed per minute

G99

G95

Feed per revolution

G90

Absolute programming

G91

Incremental programming

G98

Canned cycle : return to initial level

G99

Canned cycle : return to R point level

- 33 -

4.INTERPOLATION FUNCTIONS PROGRAMMING

B-64304EN/02

4 INTERPOLATION FUNCTIONS

Interpolation functions specify the way to make an axis movement (in other words, a movement of the

tool with respect to the workpiece or table).

Chapter 4, "INTERPOLATION FUNCTIONS", consists of the following sections:

4.1 POSITIONING (G00)

4.2 LINEAR INTERPOLATION (G01)

4.3 CIRCULAR INTERPOLATION (G02, G03)

4.4 HELICAL INTERPOLATION (G02, G03)

4.5 CYLINDRICAL INTERPOLATION (G07.1)

4.6 SKIP FUNCTION (G31)

4.7 MULTI-STEP SKIP (G31)

4.8 HIGH-SPEED SKIP SIGNAL (G31)

4.9 TORQUE LIMIT SKIP

4.1

POSITIONING (G00)

The G00 command moves a tool to the position in the workpiece system specified with an absolute or an

incremental programming at a rapid traverse rate.

In the absolute programming, coordinate value of the end point is programmed.

In the incremental programming the distance the tool moves is programmed.

Format

G00 IP_ ;

IP_ : For an absolute programming, the coordinates of an end point, and for an

incremental programming, the distance the tool moves.

Explanation

Either of the following tool paths can be selected according to bit 1 (LRP) of parameter No. 1401.

• Nonlinear interpolation type positioning

The tool is positioned with the rapid traverse rate for each axis separately. The tool path is normally

straight.

• Linear interpolation type positioning

The tool is positioned within the shortest possible time at a speed that is not more than the rapid

traverse rate for each axis.

However, the path is not identical to that of linear interpolation (G01).

Linear interpolation type positioning

Start position

End position

Non linear interpolation type positioning

- 34 -

B-64304EN/02

PROGRAMMING

4.INTERPOLATION FUNCTIONS

The rapid traverse rate in G00 command is set to the parameter No. 1420 for each axis independently by

the machine tool builder. In the positioning mode actuated by G00, the tool is accelerated to a

predetermined speed at the start of a block and is decelerated at the end of a block. Execution proceeds to

the next block after confirming the in-position.

"In-position " means that the feed motor is within the specified range.

This range is determined by the machine tool builder by setting to parameter (No. 1826).

Limitation

The rapid traverse rate cannot be specified in the address F.

Even if linear interpolation type positioning is specified, nonlinear type interpolation positioning is used

in the following cases. Therefore, be careful to ensure that the tool does not foul the workpiece.

• G28 specifying positioning between the reference and intermediate positions.

• G53

4.2

LINEAR INTERPOLATION (G01)

Tools can move along a line.

Format

G01 IP_ F_ ;

IP_ : For an absolute programming, the coordinates of an end point, and for an incremental

programming, the distance the tool moves.

F_ : Speed of tool feed (Feedrate)

Explanation

A tools move along a line to the specified position at the feedrate specified in F.

The feedrate specified in F is effective until a new value is specified. It need not be specified for each

block.

The feedrate commanded by the F code is measured along the tool path. If the F code is not commanded,

the feedrate is regarded as zero.

The feedrate of each axis direction is as follows.

G01 αα ββ γγ ζζ Ff ;

Feed rate of α axis direction :

Fα

Feed rate of β axis direction :

Fβ

Feed rate of γ axis direction :

Fγ

Feed rate of ζ axis direction :

Fζ

+β

The feedrate of the rotary axis is commanded in the unit of deg/min (the unit is decimal point position).

When linear interpolation of linear axis α (such as X, Y, or Z) and rotation axis β (such as A, B, or C) is

performed, the feedrate specified in F is the tangential feedrate in the α-β Cartesian coordinate system

with A, B, or C represented in degrees and X, Y, or Z represented in millimeters or inches.

β-axis feedrate is obtained ; at first, the time required for distribution is calculated by using the above

formula, then the β-axis feedrate unit is changed to deg/min.

- 35 -

FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. OPERATOR'S MANUAL - page 2