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FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. OPERATOR'S MANUAL - page 4

5.FEED FUNCTIONS

PROGRAMMING

B-64304EN/02

Therefore, the movement time becomes about 37.700(sec), and the rotation feedrate becomes about

15.915(deg/min). The feedrate on

36.000mm in an imaginary radius becomes

10.000mm/min at

instruction feedrate in Fig.5.5(a).

Rotation feedrate when

Instruction feedrate

10mm setting.:(1)

F=10mm/min

Rotation feedrate when

36mm setting.:(2)

10mm

36mm

Fig. 5.5 (a)

Limitation

This function corresponds only the linear interpolation(G01).

However, it doesn't correspond to the following functions.

• Feed per revolution

• Cylindrical interpolation

• Axis control by PMC

M

• Inverse time feed

• Normal direction control

T

• Polar coordinate interpolation

NOTE

1 When the parameter ROTx (No.1006#0) and the parameter RFDx (No.1408#0)

are 1, this function becomes effective.

2 The parameter RFDx (No.1408#0) and an imaginary radius (parameter No.1465)

of this function can be rewriting by the programmable parameter input(G10).

3 It moves at the maximum cutting feedrate when this function effectively and sets

0 in an imaginary radius (parameter No.1465) and it instructs only a rotary axis.

4 Note setting RFDx (No.1408#0) and an imaginary radius (parameter No.1465)

enough. Especially, a movement of axis quickens compared with this function

unused when small value is set to an imaginary radius.

5 In this function, the same value as the parameter value (No.1408, No.1465) of a

master axis is used with a slave axis, when it uses axis synchronous control.

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PROGRAMMING

5.FEED FUNCTIONS

5.6

DWELL

Format

M

G04 X_; or G04 P_;

X_ : Specify a time or spindle speed (decimal point permitted)

P_ : Specify a time or spindle speed (decimal point not permitted)

T

G04 X_ ; or G04 U_ ; or G04 P_ ;

X_ : Specify a time or spindle speed (decimal point permitted)

U_ : Specify a time or spindle speed (decimal point permitted)

P_ : Specify a time or spindle speed (decimal point not permitted)

Explanation

By specifying a dwell, the execution of the next block is delayed by the specified time.

(Dwell per

second)

By setting bit 1 (DWL) of parameter No. 3405 in the feed per revolution mode, the execution of the next

block is delayed until the rotation count of the spindle reaches the specified number.

(Dwell per

revolution)

Table 5.6 (a) Command value range of the dwell time (Command by X or U)

Increment system

Command value range

Dwell time unit

IS-A

0.01 to 999999.99

IS-B

0.001 to 99999.999

sec or rev

IS-C

0.0001 to 9999.9999

Table 5.6 (b) Command value range of the dwell time (Command by P)

Increment system

Command value range

Dwell time unit

IS-A

1 to 99999999

0.01 sec or rev

IS-B

1 to 99999999

0.001 sec or rev

IS-C

1 to 99999999

0.0001 sec or rev

In the case of dwell per second, the specification unit for dwell time specified with P can be fixed at 0.001

second by setting bit 7 (DWT) of parameter No. 1015 to 1.

NOTE

1 When X, U, or P is specified without a decimal point, the specification unit does

not depend on inch/metric input. Depending on whether the X-axis is present,

the following increment system is used:

• When the X-axis is present

The increment system of the X-axis is used.

• When the X-axis is not present

The increment system of the reference axis is used.

2 When P is specified, bit 7 (IPR) of parameter No. 1004 exercises no influence.

M

Specify dwell also to make an exact check in the cutting mode (G64 mode).

If the specification of P and X is omitted, an exact stop occurs.

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6.REFERENCE POSITION

PROGRAMMING

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6 REFERENCE POSITION

A CNC machine tool has a special position where, generally, the tool is exchanged or the coordinate

system is set, as described later. This position is referred to as a reference position.

Chapter 6, "REFERENCE POSITION", consists of the following sections:

6.1 REFERENCE POSITION RETURN

68

6.1

REFERENCE POSITION RETURN

Overview

-

Reference position

The reference position is a fixed position on a machine tool to which the tool can easily be moved by the

reference position return function.

For example, the reference position is used as a position at which tools are automatically changed. Up

to four reference positions can be specified by setting coordinates in the machine coordinate system in

parameters (No. 1240 to 1243).

Y

2nd reference position

3rd reference position

Reference position

4th reference

position

X

Machine zero point

Fig. 6.1 (a) Machine zero point and reference positions

-

Automatic reference position return (G28) and movement from the reference

position (G29)

The automatic reference position return (G28) function returns tools automatically to the reference

position via an intermediate position along a specified axis. When reference position return is

completed, the lamp for indicating the completion of reference position return goes on.

M

The return from reference position (G29) function moves tools from the reference position to a specified

position via an intermediate position along a specified axis.

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PROGRAMMING

6.REFERENCE POSITION

Automatic reference position return

(G28)

R (Reference position)

A → B → R

Movement from the reference position (G29)

R → B → C

B (Intermediate

position)

C (Destination of return from

A (Start position for reference

the reference position)

position return)

Fig. 6.1 (b) Reference position return and return form the reference position

NOTE

Movement from the reference position (G29) is enabled only for the M series.

-

Reference position return check (G27)

The reference position return check (G27) is the function which checks whether the tool has correctly

returned to the reference position as specified in the program. If the tool has correctly returned to the

reference position along a specified axis, the lamp for the axis for indicating the completion of reference

position return goes on.

If the tool has not reached the reference position, an alarm (PS0092) "ZERO RETURN CHECK (G27)

ERROR" is issued.

When no movement was made along the axis, whether the current position is the reference position is

checked.

Format

-

Automatic reference position return and 2nd/3rd/4th reference position return

G28 IP_;

Reference position return

G30 P2 IP_; 2nd reference position return (P2 can be omitted.)

G30 P3 IP_; 3rd reference position return

G30 P4 IP_; 4th reference position return

IP : Specify the intermediate position in the absolute coordinate system.

(absolute/incremental programming)

There is no need to calculate an actual travel distance between the intermediate position

and the reference position.

M

-

Movement from reference position

G29 IP_;

IP : Specify the destination of return from the reference position in the absolute coordinate

system. (absolute/incremental programming)

The intermediate position is determined by G28 or G30 specified immediately before

this command.

-

Reference position return check

G27 IP_;

IP : Specify positioning to the reference position in the absolute coordinate system so as to

return to the reference position. (absolute/incremental programming)

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PROGRAMMING

6.REFERENCE POSITION

-

Setting of the reference position return feedrate

Before a coordinate system is established with the first reference position return after power-on, the

manual and automatic reference position return feedrates and automatic rapid traverse rate conform to the

setting of parameter No. 1428 for each axis.

After a reference position is established upon the completion of reference position return, the manual

reference position return feedrate conforms to the setting of the parameter No. 1428 for each axis.

NOTE

1

To this feedrate, a rapid traverse override (F0,25%,50%,100%) is applied, for

which the setting is 100%.

2

After a reference position has been established upon the completion of reference

position return, the automatic reference position return feedrate will conform to

the ordinary rapid traverse rate.

3

When a value is set for parameter No. 1428, the feedrates conform to the

parameter settings shown below.

Before a coordinate system

After a coordinate system

is established

is established

Automatic reference position return (G28)

No. 1428

No.1420

Automatic rapid traverse (G00)

No.1428

No.1420

Manual reference position return (*1)

No.1428

No.1428 (*3)

Manual rapid traverse rate

No.1423 (*2)

No.1424

1420: Rapid traverse rate

1423: Jog feedrate

1424: Manual rapid traverse rate

1428: Reference position return feedrate

When parameter No. 1428 is set to 0, the feedrates conform to the parameter

settings shown below.

Before a coordinate system

After a coordinate system

is established

is established

Automatic reference position return (G28)

No. 1420

No.1420

Automatic rapid traverse (G00)

No.1420

No.1420

Manual reference position return (*1)

No.1424

No.1424 (*3)

Manual rapid traverse rate

No.1423 (*2)

No.1424

*1 By using JZR (bit 2 of parameter No. 1401), the manual reference position

return feedrate can always be set as a jog feedrate.

*2 When RPD (bit 0 of parameter No. 1401) is 1, the setting of parameter No.

1424 (manual rapid traverse rate) is used.

When the setting of parameter No. 1424 (manual rapid traverse rate) is 0,

parameter No. 1420 (rapid traverse rate) is used.

*3 When reference position return without dogs is performed in rapid traverse

mode, or when manual reference position return is performed in rapid

traverse mode regardless of deceleration dogs after a reference position is

established, the reference position return feedrate for each of these

functions (setting of DLF (bit 1 of parameter No. 1404)) is used.

Limitation

-

Status the machine lock being turned on

The lamp for indicating the completion of reference position return does not go on when the machine lock

is turned on, even when the tool has automatically returned to the reference position. In this case, it is

not checked whether the tool has returned to the reference position even when a reference position return

check command is specified.

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6.REFERENCE POSITION

PROGRAMMING

B-64304EN/02

-

When automatic reference position return (G28) is executed if no reference

position is established

When automatic reference position return (G28) is executed if no reference position is established,

movement from the intermediate position in a reference position direction is the same as that in manual

reference position return.

(This movement is referred to as a low-speed type of automatic reference position return (G28).)

In this case, the tool moves in the direction for reference position return specified in parameter ZMIx (bit

5 of No. 1006). Therefore the specified intermediate position must be a position to which reference

position return is possible.

NOTE

When automatic reference position return (G28) is executed after a reference

position is established, positioning is performed from the intermediate position to

the reference position. This movement is referred to as a high-speed type of

automatic reference position return (G28).

-

Reference position return check in an offset mode

In an offset mode, the position to be reached by the reference position return check is the position

obtained by adding the offset value.

Therefore, if the position with the offset value added is not the reference position, the lamp for indicating

the completion of reference position return does not light up, but an alarm is displayed instead.

Accordingly, cancel compensation and specify G27 in ordinary cases.

-

Lighting the lamp when the programmed position does not coincide with the

reference position

When the machine tool system is an inch system with metric input, the lamp for indicating the completion

of reference position return may also light up even if the programmed position is shifted from the

reference position by the least setting increment. This is because the least setting increment of the

machine tool system is smaller than its least command increment.

Example

G28G90X1000.0Y500.0 ;

(Programs movement from A to B. The tool moves to reference position

R via intermediate position B.)

T111 ;

M06 ;

(Changing the tool at the reference position)

G29X1300.0Y200.0 ;

(Programs movement from B to C. The tool moves from reference position

R to C specified with G29 via intermediate position B.)

Automatic reference position return (G28)

R (Reference position)

Y

A → B → R

Movement from the reference position (G29)

R → B → C

B (Intermediate

position)

500

C (Destination of return from the

300

reference position)

A (Start position for reference

200

position return)

200

1000

1300

X

Fig. 6.1 (c) Reference position return and movement from the reference position

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PROGRAMMING

7.COORDINATE SYSTEM

7 COORDINATE SYSTEM

By teaching the CNC a desired tool position, the tool can be moved to the position. Such a tool position is

represented by coordinates in a coordinate system. Coordinates are specified using program axes.

When three program axes, the X-axis, Y-axis, and Z-axis, are used, coordinates are specified as follows:

X_Y_Z_

This command is referred to as a dimension word.

• For milling machining (Tool position specified by X40.0Y50.0Z25.0 )

Z

25.0

Y

50.0

40.0

X

• For lathe cutting (Tool position specified by X50.0 Z40.0)

X

40.0

50.0

Z

Zero point

Coordinates are specified in one of following three coordinate systems:

(1) Machine coordinate system

(2) Workpiece coordinate system

(3) Local coordinate system

The number of the axes of a coordinate system varies from one machine to another. So, in this manual, a

dimension word is represented as IP_.

7.1

MACHINE COORDINATE SYSTEM

The point that is specific to a machine and serves as the reference of the machine is referred to as the

machine zero point. A machine tool builder sets a machine zero point for each machine.

A coordinate system with a machine zero point set as its origin is referred to as a machine coordinate

system.

A machine coordinate system is set by performing manual reference position return after power-on (see

III-3.1). A machine coordinate system, once set, remains unchanged until the power is turned off.

The reference position is not always the origin of the machine coordinate system.

(See "Setting a machine coordinate system" described later.)

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

Format

G53 IP_ (P1) ;

IP_: Absolute dimension word

P1: Enables the high-speed G53 function.

Explanation

-

Selecting a machine coordinate system (G53)

When a command is specified the position on a machine coordinate system, the tool moves to the position

by rapid traverse. G53, which is used to select a machine coordinate system, is a one-shot G code; that

is, it is valid only in the block in which it is specified on a machine coordinate system. Specify an

absolute command for G53. When an incremental command is specified, the G53 command is ignored.

When the tool is to be moved to a machine-specific position such as a tool change position, program the

movement in a machine coordinate system based on G53.

-

High-speed G53 function

This function enables the inter-rapid traverse block overlap function between machine coordinate

selection command (G53) and positioning (rapid traverse) command (G00) blocks, thus making it

possible to execute the next rapid traverse command (G00) without decelerating to a stop at the end of the

machine coordinate selection command (G53). Therefore, high-speed positioning is available even

when the machine coordinate selection command (G53) is used.

Specifying P1 in a G53 block enables the high-speed G53 function.

Limitation

-

Cancel of the compensation function

When the G53 command is specified, cancel the compensation functions such as the cutter compensation,

tool length compensation, tool nose radius compensation, and tool offset.

-

G53 specification immediately after power-on

Since the machine coordinate system must be set before the G53 command is specified, at least one

manual reference position return or automatic reference position return by the G28 command must be

performed after the power is turned on. This is not necessary when an absolute-position detector is

attached.

-

Blocks in which the high-speed G53 function is usable

The high-speed G53 function is usable in the following combinations of commands:

• G53 → G00

• G53 → G53

The high-speed G53 function is unusable in the following combination of commands:

• G00 → G53

-

Specification in the same block

M

Commands G50/G51 (scaling), G50.1/G51.1 (programmable mirror image), and G68/G69 (coordinate

system rotation) cannot be specified in the same block where the G53 command is specified.

Note

NOTE

G53 is a G code for disabling buffering.

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PROGRAMMING

7.COORDINATE SYSTEM

Reference

-

Setting a machine coordinate system

When manual reference position return is performed after power-on, a machine coordinate system is set

so that the reference position is at the coordinate values of (α, β) set using parameter No.1240.

Machine coordinate system

Machine zero point

β

α

Reference position

7.2

WORKPIECE COORDINATE SYSTEM

Overview

A coordinate system used for machining a workpiece is referred to as a workpiece coordinate system. A

workpiece coordinate system is to be set with the CNC beforehand (setting a workpiece coordinate

system).

A machining program sets a workpiece coordinate system (selecting a workpiece coordinate system).

A set workpiece coordinate system can be changed by shifting its origin

(changing a workpiece

coordinate system).

7.2.1

Setting a Workpiece Coordinate System

A workpiece coordinate system can be set using one of three methods:

(1) Method using a workpiece coordinate system setting G code

A workpiece coordinate system is set by specifying a value in the program after a workpiece

coordinate system setting G code.

(2) Automatic setting

If bit 0 of parameter ZPR No. 1201 is set to 1, a workpiece coordinate system is automatically set

when manual reference position return is performed (see III-3.1.).

When using the workpiece coordinate system function (bit 0 (NWZ) of parameter No. 8136 is 0),

this method is disabled.

(3) Method using a workpiece coordinate system selection G code

Six workpiece coordinate systems can be set beforehand using the MDI panel. Program commands

G54 to G59 can be used to select the workpiece axis to be used.

(see III-12.3.4.)

When using an absolute command, establish the workpiece coordinate system in any of the above ways.

Format

-

Setting a workpiece coordinate system

M

G92 IP_ ;

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

T

G50 IP_ ;

Explanation

A workpiece coordinate system is set so that a point on the tool, such as the tool tip, is at specified

coordinates.

M

If a coordinate system is set using G92 during tool length offset, a coordinate system in which the

position before offset matches the position specified in G92 is set. Cutter compensation is cancelled

temporarily with G92.

T

If IP_ is an incremental command value, the workpiece coordinate system is defined so that the current

tool position coincides with the result of adding the specified incremental value to the coordinates of the

previous tool position. If a coordinate system is set using G50 during offset, a coordinate system in

which the position before offset matches the position specified in G50 is set.

Example

M

(Example 1)

(Example 2)

Setting the coordinate system by the

Setting the coordinate system by the G92X600.0Z1200.0; command (The

G92X25.2Z23.0; command (The tool tip is the start

base point on the tool holder is the start point for the program.)

point for the program.)

Z

Base point

Z

1200.0

If an absolute command is issued, the

base point moves to the commanded

23.0

position. In order to move the tool tip to

the commanded position, the difference

from the tool tip to the base point is

compensated by tool length offset.

X

0

25.2

X

0

600.0

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PROGRAMMING

7.COORDINATE SYSTEM

T

(Example 1)

(Example 2)

Setting the coordinate system by the G50X128.7Z375.1;

Setting the coordinate system by the G50X1200.0Z700.0;

command (Diameter designation) (The tool nose is the

command (Diameter designation) (The base point on the turret is

start point for the program.)

the start point for the program.)

X

X

700.0

Start point

(base point)

Start point

375.1

Z

Z

Origin

CAUTION

The set workpiece coordinate system depends on diameter programming or

radius programming.

Notes

-

Command for setting a workpiece coordinate system in the tool length

compensation mode

M

Executing a workpiece coordinate system setting G code command (G92) presets a coordinate system in

such a way that the specified position will be a pre-compensation position.

However, this G code cannot be used together with a block where tool length compensation vectors vary.

If it is used, alarm PS5391 is issued. For example, it cannot be used together with the following blocks.

EXAMPLE

1 Block in which G43/G44 is issued

2 Block which is in the G43 or G44 mode and in which an H code is issued

3 Block which is in the G43 or G44 mode and in which G49 is issued

4 Block in which, in the G43 or G44 mode, compensation vectors are canceled

using a G code such as G28 or G53 and then resumed again

When presetting a workpiece coordinate system, using the workpiece coordinate system setting G code,

do not stop in the previous block to change a tool length compensation offset selected, for example, with

the MDI.

7.2.2

Selecting a Workpiece Coordinate System

The user can choose from set workpiece coordinate systems as described below.

(For information about

the methods of setting, see II-7.2.1.)

(1) Once a workpiece coordinate system is set by a workpiece coordinate system setting G code or by

automatic workpiece coordinate system setting, absolute commands indicate positions in the

workpiece coordinate system.

(2) Choosing from six workpiece coordinate systems set using the MDI panel

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7.COORDINATE SYSTEM

PROGRAMMING

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By specifying a G code from G54 to G59, one of the workpiece coordinate systems 1 to 6 can be

selected.

G54 : Workpiece coordinate system 1

G55 : Workpiece coordinate system 2

G56 : Workpiece coordinate system 3

G57 : Workpiece coordinate system 4

G58 : Workpiece coordinate system 5

G59 : Workpiece coordinate system 6

Workpiece coordinate system 1 to 6 are established after reference position return after the power is

turned on. When the power is turned on, G54 coordinate system is selected.

When bit 2 (G92) of parameter No. 1202 is set to 1, executing the workpiece coordinate system setting

G92 code command results in the issue of an alarm PS0010. This is designed to prevent the user from

confusing coordinate systems.

CAUTION

The set workpiece origin offset value depends on diameter programming or

radius programming.

Example

G90 G55 G00 X40.0 Y100.0 ;

Y

Workpiece coordinate system 2 (G55)

100.0

In this example, positioning is made to

positions

(X=40.0, Y=100.0) in workpiece

coordinate system 2.

X

40.

Fig. 7.2.2 (a)

7.2.3

Changing Workpiece Coordinate System

The six workpiece coordinate systems specified with G54 to G59 can be changed by changing an external

workpiece origin offset value or workpiece origin offset value.

Three methods are available to change an external workpiece origin offset value or workpiece origin

offset value.

(1) Inputting from the MDI panel (see III-12.3.4)

(2) Programming (using a programmable data input G code or a workpiece coordinate system setting G

code)

(3) Using the external data input function

An external workpiece origin offset value can be changed by input signal to CNC. Refer to machine

tool builder's manual for details.

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PROGRAMMING

7.COORDINATE SYSTEM

Workpiece

Workpiece

Workpiece

Workpiece

coordinate system 1

coordinate system 2

coordinate system 3

coordinate system 4

(G54)

(G55)

(G56)

(G57)

ZOFS2

ZOFS3

ZOFS4

ZOFS1

Workpiece coordinate

ZOFS5

system 5

(G58)

EXOFS

Machine zero point

ZOFS6

Workpiece coordinate

system 6

(G59)

EXOFS : External workpiece origin offset value

ZOFS1 to ZOFS6 : Workpiece origin offset value

Fig. 7.2.3 (a) Changing an external workpiece origin offset value or workpiece origin offset value

Format

-

Changing by inputting programmable data

G10 L2 Pp IP_;

p=0

: External workpiece origin offset value

p=1 to 6

: Workpiece origin offset value correspond to workpiece coordinate system 1 to 6

IP_ : For an absolute command, workpiece origin offset for each axis.

For an incremental command, value to be added to the set workpiece origin offset for

each axis (the result of addition becomes the new workpiece origin offset).

-

Changing by setting a workpiece coordinate system

M

G92 IP_ ;

T

G50 IP_ ;

Explanation

-

Changing by inputting programmable data

By specifying a programmable data input G code, the workpiece origin offset value can be changed for

each workpiece coordinate system.

-

Changing by setting a workpiece coordinate system

By specifying a workpiece coordinate system setting G code, the workpiece coordinate system (selected

with a code from G54 to G59) is shifted to set a new workpiece coordinate system so that the current tool

position matches the specified coordinates (IP_).

Then, the amount of coordinate system shift is added to all the workpiece origin offset values. This

means that all the workpiece coordinate systems are shifted by the same amount.

CAUTION

When a coordinate system is set with workpiece coordinate system setting G92

code command after an external workpiece origin offset value is set, the

coordinate system is not affected by the external workpiece origin offset value.

When G92X100.0Z80.0; is specified, for example, the coordinate system having

its current tool reference position at X = 100.0 and Z = 80.0 is set.

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

T

If IP is an incremental command value, the workpiece coordinate system is defined so that the current tool

position coincides with the result of adding the specified incremental value to the coordinates of the

previous tool position.

(Coordinate system shift)

Example

M

Y

Y’

G54 workpiece coordinate system

If G92X100Y100; is commanded when the tool is positioned

160

100

Tool position

at (200, 160) in G54 mode, workpiece coordinate system 1

(X' - Y') shifted by vector A is created.

A

X’

New workpiece coordinate system

60

100

X

Original workpiece coordinate system

100

200

G54 workpiece coordinate system

Suppose that a G54 workpiece coordinate

system is specified. Then, a G55 workpiece

Z'

coordinate system where the black circle on

G55 workpiece coordinate system

the tool (figure at the left) is at (600.0,1200.0)

1200.0

can be set with the following command if the

Z'

relative relationship between the G54

workpiece coordinate system and G55

Z

1200.0

workpiece coordinate system is set correctly:

G92X600.0Z1200.0;

Also, suppose that pallets are loaded at two

Z

different positions. If the relative relationship

X'

of the coordinate systems of the pallets at the

A

600.0

two positions is correctly set by handling the

coordinate systems as the G54 workpiece

X

coordinate system and G55 workpiece

X'

600.0

coordinate system, a coordinate system shift

B

with G92 in one pallet causes the same

AA

coordinate system shift in the other pallet.

X

This means that workpieces on two pallets

C

can be machined with the same program just

by specifying G54 or G55.

X' - Z'

New workpiece coordinate system

X - Z

Original workpiece coordinate system

A : Offset value created by G92

B : Workpiece origin offset value in the G54

C : Workpiece origin offset value in the G55

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PROGRAMMING

7.COORDINATE SYSTEM

Example

T

X

X'

G54 workpiece coordinate system

If G50X100Z100; is commanded when the tool is

160

100

Tool position

positioned at

(200,

160) in G54 mode, workpiece

coordinate system 1 (X' - Z') shifted by vector A is

created.

60

Z'

New workpiece coordinate system

A

100

Z

Original workpiece coordinate system

100

200

Suppose that a G54 workpiece coordinate

G54 workpiece coordinate system

system is specified. Then, a G55

X'

workpiece coordinate system where the

black tool nose point on the tool (figure at

G55 workpiece coordinate system

the left) is at (600.0,1200.0) can be set

with the following command if the relative

X'

600.0

relationship between the G54 workpiece

coordinate system and G55 workpiece

X

coordinate system is set correctly:

G50X600.0Z1200.0;

Z'

600.0

1200.0

Also, suppose that loading is performed at

A

X

two different places and that the G54 and

Z

G55 workpiece coordinate systems are

Z'

set for these two places. If the relative

1200.0

relationship between the coordinate

B

A

systems in the two places is correctly set,

Z

a coordinate system shift with G50 in one

loading place causes the same

C

coordinate system shift in the other

loading place. This means that

workpieces on the two loading positions

X' - Z'

New workpiece coordinate system

can be machined with the same program

X - Z

Original workpiece coordinate system

just by specifying G54 or G55.

A : Offset value created by G50

B : Workpiece origin offset value in G54

C : Workpiece origin offset value in G55

7.2.4

Workpiece Coordinate System Preset (G92.1)

The workpiece coordinate system preset function presets a workpiece coordinate system shifted by

manual intervention to the pre-shift workpiece coordinate system. The latter system is displaced from

the machine zero point by a workpiece origin offset value.

There are two methods for using the workpiece coordinate system preset function. One method uses a

programmed command. The other uses MDI operations on the absolute position display screen, relative

position display screen, and overall position display screen (see III-12.1.4).

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

Format

M

G92.1 IP 0 ;

IP 0 : Specifies axis addresses subject to the workpiece coordinate system preset

operation. Axes that are not specified are not subject to the preset operation.

T

G50.3 IP 0 ;

(G92.1 IP 0; for G code system B or C)

IP 0 : Specifies axis addresses subject to the workpiece coordinate system preset

operation. Axes that are not specified are not subject to the preset operation.

Explanation

When manual reference position return operation is performed in the reset state, a workpiece coordinate

system is shifted by the workpiece origin offset value from the machine coordinate system zero point.

Suppose that the manual reference position return operation is performed when a workpiece coordinate

system is selected with G54. In this case, a workpiece coordinate system is automatically set which has

its origin displaced from the machine zero point by the G54 workpiece origin offset value; the distance

from the origin of the workpiece coordinate system to the reference position represents the current

position in the workpiece coordinate system.

G54 workpiece coordinate system

Workpiece origin

G54 workpiece

origin offset value

Reference position

Machine zero point

Manual reference position return

If an absolute position detector is provided, the workpiece coordinate system automatically set at

power-up has its origin displaced from the machine zero point by the G54 workpiece origin offset value.

The machine position at the time of power-up is read from the absolute position detector and the current

position in the workpiece coordinate system is set by subtracting the G54 workpiece origin offset value

from this machine position. The workpiece coordinate system set by these operations is shifted from the

machine coordinate system using the commands and operations listed below.

(a) Manual intervention performed when the manual absolute signal is off

(b) Move command executed in the machine lock state

(c) Movement by manual handle interruption

(d) Operation using the mirror image function

(e) Shifting the workpiece coordinate system by setting the local coordinate system or workpiece

coordinate system

In the case of (a) above, the workpiece coordinate system is shifted by the amount of movement during

manual intervention.

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B-64304EN/02

PROGRAMMING

7.COORDINATE SYSTEM

G54 workpiece

Po

coordinate system before

manual intervention

Amount of

movement during

WZo

manual intervention

Workpiece origin

G54 workpiece coordinate

offset value

system after manual

intervention

Pn

Machine zero point

WZn^-

In the operation above, a workpiece coordinate system once shifted can be preset using G code (G92.1)

specification or MDI operation to a workpiece coordinate system displaced by a workpiece origin offset

value from the machine zero point.

Bit 3 (PPD) of parameter No. 3104 specifies whether to preset relative coordinates as well as absolute

coordinates.

Limitation

-

Tool radius ⋅ tool nose radius compensation, tool length compensation, tool

offset

When using the workpiece coordinate system preset function, cancel compensation modes: Tool radius ⋅

tool nose radius compensation, tool length compensation, and tool offset. If the function is executed

without canceling these modes, compensation vectors are cancelled.

M

-

Tool length compensation

When using the workpiece coordinate system preset function, cancel tool length compensation. If the

function is executed without canceling these modes, compensation vectors are cancelled.

-

Prohibited modes

Do not use the workpiece coordinate system preset function when the scaling, coordinate system rotation,

or programmable image is set.

-

Program restart

The workpiece coordinate system preset function is not executed during program restart.

7.2.5

Addition of Workpiece Coordinate System Pair (G54.1 or G54)

(M Series)

M

Besides the six workpiece coordinate systems (standard workpiece coordinate systems) selectable with

G54 to G59, 48 additional workpiece coordinate systems (additional workpiece coordinate systems) can

be used.

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

Format

-

Selecting the additional workpiece coordinate systems

G54.1 Pn ; or G54 Pn ;

Pn : Codes specifying the additional workpiece coordinate systems

n

:

1 to 48

-

Setting the workpiece origin offset value in the additional workpiece

coordinate systems (G10)

G10 L20 Pn IP_ ;

Pn : Codes specifying the workpiece coordinate system for setting the workpiece origin

offset value

n

:

1 to 48

IP_ : Axis addresses and a value set as the workpiece origin offset

Explanation

-

Selecting the additional workpiece coordinate systems

When a P code is specified together with G54.1 (G54), the corresponding coordinate system is selected

from the additional workpiece coordinate systems (1 to 48).

A workpiece coordinate system, once selected, is valid until another workpiece coordinate system is

selected. Standard workpiece coordinate system 1 (selectable with G54) is selected at power-on.

G54.1 P1

Additional workpiece coordinate system 1

G54.1 P2

Additional workpiece coordinate system 2

:

G54.1 P48 Additional workpiece coordinate system 48

As with the standard workpiece coordinate systems, the following operations can be performed for a

workpiece origin offset in an additional workpiece coordinate system:

(1) The workpiece origin offset value setting screen can be used to display and set a workpiece origin

offset value.

(2) The G10 function enables a workpiece origin offset value to be set by programming (refer to

II-7.2.3).

(3) A custom macro allows a workpiece origin offset value to be handled as a system variable.

(4) Workpiece origin offset data can be entered or output as external data.

(5) The PMC window function enables workpiece origin offset data to be read as program command

modal data.

-

Setting the workpiece origin offset value in the additional coordinate systems

(G10)

When a workpiece origin offset value is specified using an absolute value, the specified value is the new

offset value. When it is specified using an incremental value, the specified value is added to the current

offset value to obtain a new offset value.

Limitation

-

Specifying P codes

A P code must be specified after G54.1 (G54). If G54.1 is not followed by a P code in the same block,

additional workpiece coordinate system 1 (G54.1P1) is assumed.

If a value not within the specifiable range is specified in a P code, an alarm PS0030 is issued.

P codes other than workpiece offset numbers cannot be specified in a G54.1 (G54) block.

Example 1) G54.1 G04 P1000 ;

Example 2) G54.1 M98 P48 ;

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PROGRAMMING

7.COORDINATE SYSTEM

7.2.6

Automatic Coordinate System Setting

When the workpiece coordinate system is not used (bit 0 (NWZ) of parameter No. 8136 is 1), if bit 0

(ZPR) of automatic coordinate system setting parameter No. 1201 is 1, a manual reference position return

operation determines the coordinates automatically.

Once α, β, and γ are set with parameter No. 1250, a workpiece coordinate system is set upon reference

position return so that the base point on the tool holder or the tip of the basic tool is positioned at X = α,

Y = β, and Z = γ.

This processing occurs as if the following are specified at the reference position:

M

G92 Xα Yβ Zγ ;

T

G50 Xα Zγ ;

When the workpiece coordinate system is used (bit 0 (NWZ) of parameter No. 8136 is 0), regardless of

the setting of bit 0 (ZPR) of parameter No. 1201, a manual reference position return operation establishes

the workpiece coordinate system based on the workpiece origin offset (parameters Nos. 1220 to 1226).

T

When the setting of a workpiece coordinate system shift amount is other than 0, a workpiece coordinate

system shifted by the amount is set.

7.2.7

Workpiece Coordinate System Shift (T Series)

T

Explanation

When the coordinate system actually set by the G50 command or the automatic system setting deviates

from the programmed workpiece system, the set coordinate system can be shifted (see III-3.1).

Set the desired shift amount in the workpiece coordinate system shift memory.

X

x

X-Z : Coordinate system in programming

x-z

: Current set coordinate system with shift amount 0

(coordinate system to be modified by shifting)

O’

z

Shift

Z

O

Set the shift amount from O' to O in the workpiece coordinate system shift memory.

Fig. 7.2.7 (a) Workpiece coordinate system shift

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

Format

-

Changing the workpiece coordinate system shift amount

G10 P0 IP_;

IP : Settings of an axis address and a workpiece coordinate system shift amount

CAUTION

A single block can contain a combination of X, Y, Z, C, U, V, W, and H (in G

code system A). In this case, if commands are specified for the same axis,

whichever appears later becomes valid.

Limitation

-

Shift amount and coordinate system setting command

Specifying a coordinate system setting command (G50 (for G code system A) or G92 (for G code system

B/C)) invalidates the shift amount that has already been set.

Example)

When G50X100.0Z80.0; is specified, a coordinate system is set so that the current base position of

the tool is at X =100.0 and Z = 80.0, regardless of which value has been set for the workpiece

coordinate system shift amount.

-

Shift amount and coordinate system setting

When the shift amount is already set, if an automatic coordinate system setting is made by a manual

reference position return, the set coordinate system is immediately shifted by the shift amount.

-

Diameter and radius values

The workpiece coordinate system shift amount depends on diameter programming or radius

programming.

Example)

To set the base point indicated by X = Φ120.0 (diameter value) and Z = 70.0 with reference to the

workpiece origin, if the distance to the current base point is indicated by X = Φ121.0 and Z = 69.0,

the shift amount is set as shown below.

X=1.0, Z=-1.0

X

69.0

Start point = base

point

Z

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B-64304EN/02

PROGRAMMING

7.COORDINATE SYSTEM

7.3

LOCAL COORDINATE SYSTEM

When a program is created in a workpiece coordinate system, a child workpiece coordinate system can be

set for easier programming. Such a child coordinate system is referred to as a local coordinate system.

Format

G52 IP_; Setting the local coordinate system

:

G52 IP 0 ; Canceling of the local coordinate system

IP_ : Origin of the local coordinate system

Explanation

By specifying G52 IP_;, a local coordinate system can be set in all the workpiece coordinate systems

(G54 to G59). The origin of each local coordinate system is set at the position specified by IP_ in the

workpiece coordinate system.

Once a local coordinate system is established, the coordinates in the local coordinate system are used in

an axis shift command. The local coordinate system can be changed by specifying the G52 command

with the origin of a new local coordinate system in the workpiece coordinate system.

To cancel the local coordinate system or specify the coordinate value in the workpiece coordinate system,

match the origin of the local coordinate system with that of the workpiece coordinate system.

IP_

(Local coordinate system)

(G54: Workpiece coordinate system 1)

G55

IP_

(Local coordinate system)

G56

G57

(G59: Workpiece coordinate

G58

system 6)

(Machine coordinate system)

Machine coordinate system zero point

Reference position

Fig. 7.3 (a) Setting the local coordinate system

CAUTION

1 When ZCL (bit 2 of parameter No.1201) is set to 1 and an axis returns to the

reference position by the manual reference position return function, the origin of

the local coordinate system of the axis matches that of the workpiece coordinate

system. The same is true when the following command is issued:

G52 α0 ;

α: Axis which returns to the reference position

2 The local coordinate system setting does not change the workpiece and machine

coordinate systems.

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7.COORDINATE SYSTEM

PROGRAMMING

B-64304EN/02

CAUTION

3 Whether the local coordinate system is canceled at reset depends on the

parameter setting. The local coordinate system is canceled when either bit 3

(RLC) of parameter No.1202 is set to 1. The local coordinate system is

canceled regardless of the setting of bit 3 (RLC) of parameter No. 1202 when bit

6 (CLR) of parameter No. 3402 is 0 and bit 7 (WZR) of parameter No. 1201 is 1

or when bit 6 (CLR) of parameter No. 3402 is 1 and bit 6 (C14) of parameter No.

3407 is 0.

4 When a workpiece coordinate system is set with the G92 (G50 for G code

system A in the T series) command, the local coordinate system is canceled.

However, the local coordinate system of an axis for which no coordinate system

is specified in a G92 (G50 for G code system A in the T series) block remains

unchanged.

5 G52 cancels the offset temporarily in tool radius ⋅ tool nose radius compensation.

6 Command a move command immediately after the G52 block in the absolute

mode.

7.4

PLANE SELECTION

Select the planes for circular interpolation, cutter compensation (M series), coordinate system rotation (M

series), and drilling by G-code.

The following table lists G-codes and the planes selected by them.

Explanation

Table 7.4 (a) Plane selected by G code

G code

Selected plane

Xp

Yp

Zp

G17

Xp Yp plane

X-axis or an axis

Y-axis or an axis

Z-axis or an axis

G18

Zp Xp plane

parallel to it

parallel to it

parallel to it

G19

Yp Zp plane

Xp, Yp, Zp are determined by the axis address appeared in the block in which G17, G18 or G19 is

commanded.

When an axis address is omitted in G17, G18 or G19 block, it is assumed that the addresses of basic three

axes are omitted.

Parameter No. 1022 is used to specify that an optional axis be parallel to the each axis of the X-, Y-, and

Z-axes as the basic three axes.

The plane is unchanged in the block in which G17, G18 or G19 is not commanded.

The movement instruction is irrelevant to the plane selection.

M

When the power is turned on or the CNC is reset, G17 (XY plane), G18 (ZX plane), or G19 (YZ plane) is

selected by bits 1 (G18) and 2 (G19) of parameter No. 3402).

T

When the power is turned on, G18 (ZX plane) is selected.

NOTE

U-, V-, and W-axes can be used with G-codes B and C.

Example

Plane selection when the X-axis is parallel with the U-axis.

G17 X_ Y_ ;

XY plane,

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8.COORDINATE VALUE AND DIMENSION PROGRAMMING

B-64304EN/02

8 COORDINATE VALUE AND DIMENSION

Chapter 8, "COORDINATE VALUE AND DIMENSION", consists of the following sections:

8.1 ABSOLUTE AND INCREMENTAL PROGRAMMING

90

8.2 INCH/METRIC CONVERSION (G20, G21)

92

8.3 DECIMAL POINT PROGRAMMING

95

8.4 DIAMETER AND RADIUS PROGRAMMING

97

8.1

ABSOLUTE AND INCREMENTAL PROGRAMMING

There are two ways to command travels of the tool; the absolute programming, and the incremental

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

incremental programming is used to program the amount of a tool movement.

M

G90 and G91 are used to programming absolute or incremental programming, respectively.

T

Absolute programming or incremental programming is used depending on the programming used. See

following tables.

G code system

A

B or C

Command method

Address word

G90, G91

Format

M

Absolute programming G90 IP_ ;

Incremental programming G91 IP_ ;

T

-

G code system A

Absolute programming

Incremental programming

X axis move command

X

U

Z axis move command

Z

W

Y axis move command

Y

V

C axis move command

C

H

-

G code system B or C

Absolute programming G90 IP_ ;

Incremental programming G91 IP_ ;

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B-64304EN/02

PROGRAMMING

8.COORDINATE VALUE AND DIMENSION

Example

M

G90 X40.0 Y70.0 ;

Absolute programming

G91 X-60.0 Y40.0 ;

Incremental programming

End point

70.0

Y

30.0

Start point

X

40.0

100.0

T

Tool movement from point P to point Q (diameter programming is used for the X-axis)

G code system A

G code system B or C

Absolute programming

X400.0 Z50.0 ;

G90 X400.0 Z50.0 ;

Incremental programming

U200.0 W-400.0 ;

G91 X200.0 Z-400.0 ;

Q

X

(400, 50)

P

(200, 450)

φ400

φ200

Z

50

450

NOTE

1 Absolute programming and incremental programming can be used together in a

block.

In the above example, the following command can be specified : X400.0

W-400.0 ; (in the G code system A)

2 When absolute programming and incremental programming for the same axis

are used at the same time (for example, X and U, or Z and W) in one block in G

code system A, absolute programming or incremental programming, whichever

is specified later, is valid.

3 Incremental programming cannot be used when names of the axes are A and B

during G code system A is selected.

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8.COORDINATE VALUE AND DIMENSION PROGRAMMING

B-64304EN/02

8.2

INCH/METRIC CONVERSION (G20, G21)

Either inch or metric input (least input increment) can be selected by G code.

Format

Inch input

Metric input

This G code must be specified in an independent block before setting the coordinate system at the

beginning of the program. After the G code for inch/metric conversion is specified, the unit of input data

is switched to the least inch or metric input increment of increment system (II-2.3). The unit of data input

for degrees remains unchanged. The unit systems for the following values are changed after inch/metric

conversion:

• Feedrate commanded by F code

• Positional command

• Workpiece origin offset value

• Tool compensation value

• Unit of scale for manual pulse generator

• Movement distance in incremental feed

• Some parameters

When the power is turned on, the G code is the same as that held before the power was turned off.

WARNING

G20 and G21 must not be switched during a program.

NOTE

1 When the least input increment and the least command increment systems are

different, the maximum error is half of the least command increment. This error

is not accumulated.

2 The inch and metric input can also be switched using settings (see III-12.3.1).

3 To disable the function of bit 2 (IRF) of parameter No. 14000 or bit 0 (NIM) of

parameter No. 11222, perform inch/metric conversion at a point having a

machine coordinate of 0.

Performing inch/metric conversion in the reference position (parameter No.

1240 is not 0)

Conventionally, inch/metric conversion must be performed at a point having a machine coordinate of 0.

However, setting bit 2 (IRF) of parameter No. 14000 to 1 enables inch/metric conversion to be performed

in the reference position (parameter No. 1240).

If an attempt is made to perform inch/metric conversion when an axis with this function enabled is not in

the reference position, alarm PS5362 is issued to cancel the attempt.

Before trying to perform inch/metric conversion, be sure to set the axis of interest to the reference

position, using the G28 command, for example.

About the axis by which bit 7 (IMAx) of parameter No.14000 is set to 1, even if inch/metric conversion is

performed when the axis is not in the reference position, alarm PS5362 is not generated.

Therefore, be sure to set 1 in IMAx of an unrelated axis to inch/metric conversion such as the rotary axis.

As a result, an unrelated axis to inch/metric conversion need not be performed reference position return

before inch/metric conversion is performed.

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B-64304EN/02

PROGRAMMING

8.COORDINATE VALUE AND DIMENSION

8.3

DECIMAL POINT PROGRAMMING

Numerical values can be entered with a decimal point. A decimal point can be used when entering a

distance, time, or speed. Decimal points can be specified with the following addresses:

M

X, Y, Z, U, V, W, A, B, C, I, J, K, Q, R, F

T

X, Y, Z, U, V, W, A, B, C, I, J, K, R, F

Explanation

There are two types of decimal point notation: calculator-type notation and standard notation.

When calculator-type decimal notation is used, a value without decimal point is considered to be

specified in millimeters inch, or deg. When standard decimal notation is used, such a value is

considered to be specified in least input increments. Select either calculator-type or standard decimal

notation by using the bit 0 (DPI) of parameter No.3401.Values can be specified both with and without

decimal point in a single program.

Example

Pocket calculator type decimal

Standard type decimal point

Program command

point programming

programming

X1000

1000mm

1mm

Command value without decimal point

Unit :mm

Unit : Least input increment (0.001mm)

X1000.0

1000mm

1000mm

Command value with decimal point

Unit :mm

Unit :mm

CAUTION

When specifying a dimension word for a command G code in a block, be sure to

place the dimension word after the command G code.

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