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

A.PARAMETERS

APPENDIX

B-64304EN/02

A.2 DATA TYPE

Parameters are classified by data type as follows:

Data type

Valid data range

Remarks

Bit

Bit machine group

Bit path

0 or 1

Bit axis

Bit spindle

Byte

Byte machine group

-128 to 127

Some parameters handle these types of

Byte path

0 to 255

data as unsigned data.

Byte axis

Byte spindle

Word

Word machine group

-32768 to 32767

Some parameters handle these types of

Word path

0 to 65535

data as unsigned data.

Word axis

Word spindle

2-word

2-word machine group

Some parameters handle these types of

2-word path

0 to ±999999999

data as unsigned data.

2-word axis

2-word spindle

Real

Real machine group

See the Standard Parameter

Real path

Setting Tables.

Real axis

Real spindle

NOTE

1 Each of the parameters of the bit, bit machine group, bit path, bit axis, and bit

spindle types consists of 8 bits for one data number (parameters with eight

different meanings).

2 For machine group types, parameters corresponding to the maximum number of

machine groups are present, so that independent data can be set for each

machine group.

3 For path types, parameters corresponding to the maximum number of paths are

present, so that independent data can be set for each path.

4 For axis types, parameters corresponding to the maximum number of control

axes are present, so that independent data can be set for each control axis.

5 For spindle types, parameters corresponding to the maximum number of

spindles are present, so that independent data can be set for each spindle axis.

6 The valid data range for each data type indicates a general range. The range

varies according to the parameters. For the valid data range of a specific

parameter, see the explanation of the parameter.

- 936 -

B-64304EN/02

APPENDIX

A.PARAMETERS

A.3 STANDARD PARAMETER SETTING TABLES

This section defines the standard minimum data units and valid data ranges of the CNC parameters of the

real type, real machine group type, real path type, real axis type, and real spindle type. The data type and

unit of data of each parameter conform to the specifications of each function.

NOTE

1 Values are rounded up or down to the nearest multiples of the minimum data

unit.

2 A valid data range means data input limits, and may differ from values

representing actual performance.

3 For information on the ranges of commands to the CNC, refer to Appendix D,

"Range of Command Value."

(A) Length and angle parameters (type 1)

Unit of data

Increment system

Minimum data unit

Valid data range

IS-A

0.01

-999999.99

to +999999.99

IS-B

0.001

-999999.999

to +999999.999

deg.

IS-C

0.0001

-99999.9999

+99999.9999

IS-A

0.001

-99999.999

+99999.999

inch

IS-B

0.0001

-99999.9999

+99999.9999

IS-C

0.00001

-9999.99999

+9999.99999

(B) Length and angle parameters (type 2)

Unit of data

Increment system

Minimum data unit

Valid data range

IS-A

0.01

0.00

to +999999.99

IS-B

0.001

0.000

to +999999.999

deg.

IS-C

0.0001

0.0000

+99999.9999

IS-A

0.001

0.000

+99999.999

inch

IS-B

0.0001

0.0000

+99999.9999

IS-C

0.00001

0.00000

+9999.99999

Unit of data

Increment system

Minimum data unit

Valid data range

IS-A

0.01

0.0 to

+999000.00

mm/min

IS-B

0.001

0.0 to

+999000.000

degree/min

IS-C

0.0001

0.0 to

+99999.9999

IS-A

0.001

0.0 to

+96000.000

inch/min

IS-B

0.0001

0.0 to

+9600.0000

IS-C

0.00001

0.0 to

+4000.00000

If bit 7 (IESP) of parameter No. 1013 is set to 1, the valid data ranges for IS-C are extended as follows:

Unit of data

Increment system

Minimum data unit

Valid data range

mm/min

IS-C

0.001

0.000 to +999000.000

degree/min

inch/min

IS-C

0.0001

0.0000 to +9600.0000

- 937 -

A.PARAMETERS

APPENDIX

B-64304EN/02

(D)Acceleration and angular acceleration parameters

Unit of data

Increment system

Minimum data unit

Valid data range

IS-A

0.01

0.00

to +999999.99

mm/sec²

IS-B

0.001

0.000

to +999999.999

deg./sec²

IS-C

0.0001

0.0000

+99999.9999

IS-A

0.001

0.000

+99999.999

inch/sec

IS-B

0.0001

0.0000

+99999.9999

IS-C

0.00001

0.00000

+9999.99999

If bit 7 (IESP) of parameter No. 1013 is set to 1, the valid data ranges for IS-C are extended as follows:

Unit of data

Increment system

Minimum data unit

Valid data range

mm/min

IS-C

0.001

0.000 to +999999.999

degree/min

inch/min

IS-C

0.0001

0.0000 to +99999.9999

- 938 -

B-64304EN/02

APPENDIX

B.PROGRAM CODE LIST

B PROGRAM CODE LIST

ISO code

EIA code

Custom macro

Character name

Code

without

Character

with custom

(hexadecimal)

custom

macro

Number

Address A

Address B

Address C

Address D

Address E

Address F

Address G

Address H

Address I

Address J

Address K

Address L

Address M

Address N

Address O

Address P

Address Q

Address R

Address S

Address T

Address U

Address V

Address W

Address X

Address Y

Address Z

Delete

DEL

Del

Back space

Tabulator

Tab

End of block

LF or NL

CR or EOB

Carriage return

Space

Absolute rewind stop

Control out (start of comment)

(

(2-4-5)

Control in (end of comment)

)

(2-4-7)

Plus sign

Minus sign

- 939 -

B.PROGRAM CODE LIST

APPENDIX

B-64304EN/02

ISO code

EIA code

Custom macro

Character name

Code

without

Character

with custom

(hexadecimal)

custom

macro

Colon (address O)

Optional block skip

Period (decimal point)

Sharp

Parameter (No.6012)

Dollar sign

Ampersand

Apostrophe

’

Asterisk

Parameter (No.6010)

Comma

Semicolon

;

Left angle bracket

Equal sign

Parameter (No.6011)

Right angle bracket

Question mark

Commercial at mark

Quotation mark

“

Left square bracket

[

Parameter (No.6013)

Right square bracket

]

Parameter (No.6014)

Underscore

Parameter (No.6018)

NOTE

1 The symbols used in the "Custom macro" column have the following meanings.

(Space) : The character will be registered in memory and has a specific meaning.

It is used incorrectly in a statement other than a comment, an alarm

occurs.

The character will not be registered in memory and will be ignored.

The character will be registered in memory, but will be ignored during

program execution.

The character will be registered in memory. If it is used in a statement

other than a comment, an alarm occurs.

If it is used in a statement other than a comment, the character will not

be registered in memory. If it is used in a comment, it will be

registered in memory.

2 Codes not in this table are ignored if their parity is correct.

3 Codes with incorrect parity cause the TH alarm. But they are ignored without

generating the TH alarm when they are in the comment section.

- 940 -

C.LIST OF FUNCTIONS AND

B-64304EN/02

APPENDIX

PROGRAM FORMAT

C LIST OF FUNCTIONS AND PROGRAM

FORMAT

With some functions, the format used for specification on the M series differs from the format used for

specification on the T series. Some functions are supported only for either M series or T series.

Some functions cannot be added as options depending on the model.

For details of command formats, see the relevant sections or subsections.

In the list, the following symbols are used:

• For M series

x : 1st basic axis (X),

y : 2nd basic axis (Y),

z : 3rd basic axis (Z)

• For T series

x : 1st basic axis (X),

z : 2nd basic axis (Z),

coded using G code system A

IP_

: presents a combination of arbitrary axis addresses using X, Y, Z, A, B, C, U, V, and W (such as X_

Y_ Z_A_).

: One of the arbitrary addresses

: X-axis or axis parallel to the X-axis

: Y-axis or axis parallel to the Y-axis

: Z-axis or axis parallel to the Z-axis

Functions

Illustration

Program format

Positioning

G00 IP_ ;

(G00)

Start point

Linear interpolation

G01 IP_ F_;

(G01)

Start point

Circular interpolation

G02

(G02, G03)

Start point

G17

X_ Y_

F_ ;

G03

I_ J_

G02

G18

X_ Z_

F_ ;

G03

I_ K_

G02

(x, y)

G19

Y_ Z_

F_ ;

G03

J_ K_

(x, y)

Start point

- 941 -

C. LIST OF FUNCTIONS AND

PROGRAM FORMAT

APPENDIX

B-64304EN/02

Functions

Illustration

Program format

Helical interpolation

G02

G17

X_ Y_

α_ F_ ;

(G02, G03)

I_ J_

G03

G02

G18

X_ Z_

α_ F_ ;

G03

I_ K_

Start

(xyz)

point

G02

G19

Y_ Z_

α_ F_ ;

(x, y)

G03

J_ K_

In case of G03 on X-Y plane

α: Arbitrary address except the circular

interpolation axis

Dwell

(G04)

G04

;

G04

;

G05.1 Q1 ; AI advanced preview control /

AI advanced preview control /

AI contour control mode on

AI contour control

G05.1 Q0 ; AI advanced preview control /

(G05.1)

AI contour control mode off

HRV3 control

G05.4 Q1 ; HRV3 control mode on

(G05.4)

G05.4 Q0 ; HRV3 control mode off

Cylindrical interpolation

G07 IP_ r_;

Cylindrical interpolation

(G07.1)

mode

r : Cylinder radius

G07 IP 0; Cylindrical interpolation mode

cancel

G08 P1 ; AI contour control mode on

Advanced preview control

G08 P0 ; AI contour control mode off

(G08)

Exact stop

(G09)

Speed

G01

G09

G02

IP_ ;

Time

G03

In-position check

- 942 -

C.LIST OF FUNCTIONS AND

B-64304EN/02

APPENDIX

PROGRAM FORMAT

Functions

Illustration

Program format

Programmable data input

(G10)

Tool compensation memory A

G10 L01 P_ R_ ;

Tool compensation memory C

G10 L10 P_ R_ ; (Geometry offset

amount/H)

G10 L11 P_ R_ ; (Wear offset amount/H)

G10 L12 P_ R_ ; (Geometry offset

amount/D)

G10 L13 P_ R_ ; (Wear offset amount/D)

Geometry offset amount

G10 P_ X_ Z_ R_ Q_ ;

P = 10000 + Geometry offset number

Wear offset amount

G10 P_ X_ Z_ C_ Q_ ;

P = Wear offset number

G12.1 ; Polar coordinate interpolation mode

Polar coordinate interpolation

(G12.1, G13.1)

G13.1 ; Polar coordinate interpolation cancel

Local coordinate system

G17 G16 Xp_ Yp_ . . . ;

Polar coordinate command

G18 G16 Zp_ Xp_ . . . ;

(G15, G16)

G19 G16 Yp_ Zp_ . . . ;

G15 ; Cancel

Workpiece coordinate system

Plane selection

G17 ; Xp Yp-plane selection

(G17, G18, G19)

G18 ; Zp Xp-plane selection

G19 ; Yp Zp-plane selection

Inch/metric conversion

Inch input G20 ;

(G20, G21)

Metric input G21 ;

Stored stroke check

(XYZ)

(G22, 23)

G22 X_ Y_ Z_ I_ J_ K_ ;

Stored stroke check on

G23 ;

Stored stroke check off

(IJK)

G26 P_ Q_ R_ I_ ; Spindle speed fluctuation

Spindle speed fluctuation

detection enabled

detection

G25 ;

Spindle speed fluctuation

(G25, G26)

detection disabled

Reference position return

G27 IP_ ;

check

Start point

(G27)

Reference position return

Reference position (G28)

G28 IP_ ; Reference position return

(G28)

Intermediate point

2nd/3rd/4th Reference

G30 P2 IP_ ;

2nd reference position return

position return

G30 P3 IP_ ;

3rd reference position return

Start point

(G30)

G30 P4 IP_ ;

4th reference position return

2nd/3rd/4th reference position(G30)

P2 can be omitted.

- 943 -

C. LIST OF FUNCTIONS AND

PROGRAM FORMAT

APPENDIX

B-64304EN/02

Functions

Illustration

Program format

Reference position

G29 IP_ ;

Movement from reference

position

(G29)

Intermediate point

Skip function

G31 IP_ F_ ;

(G31)

Start point

Skip signal

Threading

G33 IP_ F_ ;

(G33)

F : Lead

Threading

Equal lead threading

(G32)

G32 IP_ F_ ;

F : Lead

G34 IP_ F_ K_ ;

Variable lead thread cutting

F : Lead at the start position in the longitudinal

(G34)

direction

K : Lead increment/decrement per spindle

rotation

Measurement

position arrivalMeasurement

position

Automatic tool offset

Start position signal

G36 X_ ;

(G36,G37)

Programmed

G37 Z_ ;

position

Compensation

(X_ or _)

value

G92 IP_ ; Workpiece coordinate system

Automatic tool length

setting

measurement

A (Start point)

Rapid

Measurement position is

(This can also be set with G54 to

(G37)

traverse

commanded with G37

B (Deceleration position)

G59)

Measurement

H○○ ; Offset number specified for tool

feedrate

C (Measurement position)

length compensation

The tool stops when the

approach end signal goes on.

G90 G37 IP_ ; Absolute programming

IP_ : Measurement position on X_, Y_, Z_,

Compensation value = (Current compensation value) +

[(Coordinates of the point at which the tool is stopped) -

or 4th axis

(Coordinates of the programmed measurement position)]

Tool radius/tool nose radius

compensation

G17

G41

(G39, G40 to G42)

G18

D_ ;

G42

G41

G19

D : Tool compensation number

G40 : Cancel

G42

G41

;

G40

G42

G40 : Cancel

- 944 -

C.LIST OF FUNCTIONS AND

B-64304EN/02

APPENDIX

PROGRAM FORMAT

Functions

Illustration

Program format

Programmed

G41.1 ; Normal direction control on : right

Normal direction control

C-axis

path

G42.1 ; Normal direction control on : left

C-axis

(G40.1, G41.1, G42.1)

Tool

G40.1 ; Normal direction control cancel

Tool

Normal direction (in

which the tool moves)

G43

Tool length compensation

Z_ H_ ;

G44

(G43, G44, G49)

Compensation

G17

G43

G18

H_ ;

G19

G44

G43

IP_

H_ ;

G44

H : Tool compensation number

G49 : Cancel

Tool offset

G 45

Increase

(G45 to G48)

G 46

Decrease

G45

G46

Double increase

IP_ D_ ;

G 47

G47

G48

G 48

Double decrease

Offset amount

D : Tool offset number

P₄

P₃

G51 X_ Y_ Z_

;

Scaling

P_4'

P₃'

I_ J_ K_

(G50, G51)

P, I, J, K : Scaling magnification

X, Y, Z : Control position of scaling

P_1'

P_2'

G50 : Cancel

P₂

G51.1 IP_ ; Setting

Programmable mirror image

Mirror

IP_: Command for the symmetric axis of the

(G50.1, G51.1)

mirror image

G50.1 IP_ ; Cancel

IP_: Any command for the symmetric axis of

the mirror image

G51.2 (G251) P_ Q_ ; Polygon turning on

Polygon turning

P_ Q_ : Rotation ratio between the spindle

(G50.2, G51.2)

and rotation axis

(G250, G251)

G50.2 (G250) ; Polygon turning cancel

- 945 -

C. LIST OF FUNCTIONS AND

PROGRAM FORMAT

APPENDIX

B-64304EN/02

Functions

Illustration

Program format

G51.4 P_Q_(L_) ; Start synchronous control

Synchronous, composite, and

(L_ can be omitted.)

superimposed control by

G50.4 Q_ ; Cancel synchronous control.

program command

P : Number to identify synchronous master

(G50.4, G51.4, G50.5, G51.5,

axis

G50.6, G51.6)

Q : Number to identify synchronous slave

axis

L : Parking start command

G51.5 P_Q_ ; Start composite control

G50.5 P_Q_ ; Cancel composite control

P : Number to identify composite axis 1

Q : Number to identify composite axis 2

G51.6 P_Q_ ; Start superimposed control

G50.6 Q_ ; Cancel superimposed control

P : Number to identify superimposed master

axis

Q : Number to identify superimposed slave

axis

G50 IP_ ;

(Coordinate system setting)

Coordinate system setting

G50 S_ ;

(Maximum spindle speed clamp)

Maximum spindle speed

clamp

(G50)

Local coordinate system

G52 IP_ ;

Local coordinate

setting

system

(G52)

Workpiece

coordinate system

Command in machine

G53 IP_ ;

coordinate system

(G53)

Selection of workpiece

G54

Workpiece

IP_ ;

coordinate system

G59

origin

(G54 to G59)

offset

Workpiece coordinate system

Machine coordinate system

Example) G54.1 P12 ;

Selection of additional

G54.1 Pn ; (n=1 to 48)

workpiece coordinate system

Select the additional workpiece

G54 Pn ; (n=1 to 48)

(G54.1,G54)

coordinate system 12.

G60 IP_ ;

Single direction positioning

(G60)

Cutting mode (G64)

G64_ ; Cutting mode

Exact stop mode (G61)

G61_ ; Exact stop mode

Tapping mode (G63)

G63_ ; Tapping mode

G64

G62_ ; Automatic corner override

Automatic corner override

(G62)

- 946 -

C.LIST OF FUNCTIONS AND

B-64304EN/02

APPENDIX

PROGRAM FORMAT

Functions

Illustration

Program format

Custom macro

One-shot call

(G65, G66, G67)

G65 P_ L_ <Argument assignment> ;

Macro

P : Program number

O_ ;

L : Number of repetition

G65 P_L_ ;

M99 ;

Modal call

G66 P_ L_ <Argument assignment> ;

Call after the move command

G67 ; Cancel

G68 : Mirror image for double turret

Mirror image for double turret

(G68, G69)

G69 : Mirror image cancel

G17 X_ Y_

Coordinate system rotation

G68

G18 Z_ X_

R ;

(G68, G69)

G19 Y_ Z_

R: Angle of rotation in a counterclockwise

(x,y)

direction

In case of X-Y plane

G69 ; Cancel

Canned cycle for drilling

G80 ; Cancel

(G73, G74, G76, G80 to

G73

G89)

G74

G76

(G80 to G89)

X_Y_Z_P_Q_R_F_K_ ;

G81

：

G89

G70 P Q

;

Canned cycle for turning

G71 U R

;

Multiple repetitive canned

G71 P Q

U W F S T

;

cycle

G72 W R

;

(G70 to G76)

G72 P Q

U W F S T

;

Canned cycle

G73 W R

;

(G90, G92, G94)

G73 P Q

U W F S T

;

G74 R

;

G74 X(u) Z(w) P Q R F

;

G75 R

;

G75 X(u) Z(w ) P Q R F

;

G76 R

;

G76 X(u) Z(w) P Q R F

;

G90

X_ Z_ I_ F_ ;

G92

G94 X Z I F

;

Canned grinding cycle (for

grinding machine)

G75 I_ J_ K_ α_ R_ F_ P_ L_ ;

G77 I_ J_ K_ α_ R_ F_ P_ L_ ;

(G75 to G79)

G78 I_ (J_) K_ α_ F_ P_ L_ ;

G79 I_ J_ K_ α_ R_ F_ P_ L_ ;

(G71 to G74)

α : Arbitrary axis address of the grinding axis

G71 A_ B_ W_ U_ I_ K_ H_ ;

G72 P_ A_ B_ W_ U_ I_ K_ H_ ;

- 947 -

C. LIST OF FUNCTIONS AND

PROGRAM FORMAT

APPENDIX

B-64304EN/02

Functions

Illustration

Program format

G73 A_ (B_) W_ U_ K_ H_ ;

G74 P_ A_ (B_) W_ U_ K_ H_ ;

Electronic gear box

Parameter EFX（No.7731#0）

(G81,G80)

(G81.4,G80.4)

Start of

G81 T_ (L_)

synchronization

(Q_ P_) ;

Cancellation of

G80 ;

synchronization

T : Number of teeth

L : Number of hob threads

Q : Module or diametral pitch

P : Gear helix angle

Absolute/incremental

programming

G90_ ; Absolute programming

(G90/G91)

G91_ ; Incremental programming

G90_ . . . G91_ ; Programming in both modes

For G code system A

X Z C

: Absolute programming

U W H

:Incremental programming

For G code system B/C

G90_ ; Absolute programming

G91_ ; Incremental programming

G90_ … G91_ ; Programming in both

modes

Maximum incremental

G91.1 IP_ ;

command value check (G91.1)

IP_ ; Maximum incremental value

Set 0 to cancel maximum incremental value

check.

Change of workpiece

coordinate system

G92 IP_ ; Change of workpiece coordinate

system

Maximum spindle speed

G92 S_ ; Constant surface speed control :

clamp (G92)

Maximum spindle speed clamp

Workpiece coordinate system

preset

G92.1 IP 0 ;

(G92.1)

G50.3 IP 0 ;

(G50.3)

G93 ; Inverse time setting mode

Inverse time feed

(G93)

Feed per minute,

Feed per revolution

G94 F_ ; Feed per minute

(G94, G95)

G95 F_ ; Feed per revolution

mm/min

inch/min

mm/rev

inch/rev

(G98, G99)

G98 F_ ; Feed per minute

G99 F_ ; Feed per revolution

- 948 -

C.LIST OF FUNCTIONS AND

B-64304EN/02

APPENDIX

PROGRAM FORMAT

Functions

Illustration

Program format

Constant surface speed

Surface speed (m/min or feet/min)

G96 S_ ; Constant surface speed control on

control

(surface speed specification)

(G96, G97)

Spindle

G97 S_ ; Constant surface speed control off

speed

(spindle speed specification)

N(min^-1)

G96.1 P_R_; The next block starts operating

Speed display function of a

upon completion of spindle

milling tool with servo motor

indexing (the SV speed control

(G96.1,G96.2,G96.3,G96.4)

mode is off).

G96.2 P_R_; The next block starts operating

without waiting for spindle

indexing to complete.

G96.3 P_; The next block starts operating

after confirming the completion

of spindle indexing (the SV

speed control mode is off).

G96.4 P_; The SV speed control mode is

on.

Canned cycle initial level

G98

Initial level

G98_ ; Canned cycle initial level return

return/R level return

G99_ ; Canned cycle R level return

(G98, G99)

G99

R level

They can be used only in the G code system

B/C.

Z point

G161 R_ ;

In-feed control (for grinding

Figure program (G01, G02, G03)

machine)

(G160, G161)

G160 ;

- 949 -

D.RANGE OF COMMAND VALUE

APPENDIX

B-64304EN/02

D RANGE OF COMMAND VALUE

Linear axis

In case of millimeter input, feed screw is millimeter

Increment system

IS-A

IS-B

IS-C

Least input increment (mm)

0.01

0.001

0.0001

Least command increment (mm)

0.01

0.001

0.0001

Max. programmable dimension (mm)

±999,999.99

±999,999.999

±99,999.9999

Max. rapid traverse (mm/min)^*1

999,000

100,000

Feedrate range (mm/min)^*1

0.01 to 999,000

0.001 to 999,000

0.0001 to 100,000

Incremental feed (mm/step)

0.01

0.001

0.0001

0.1

0.01

0.001

1.0

0.1

0.01

10.0

1.0

0.1

Tool compensation amount (mm)^*2

0 to ±9,999.99

0 to ±9,999.999

0 to ±9,999.9999

Backlash compensation amount (pulses)^*3

0 to ±9,999

Dwell (sec)^*4

0 to 999,999.99

0 to 999,999.999

0 to 99,999.9999

In case of inch input, feed screw is millimeter

Increment system

IS-A

IS-B

IS-C

Least input increment （inch）

0.001

0.0001

0.00001

Least command increment （inch）

0.001

0.0001

0.00001

Max. programmable dimension (inch)

±39,370.078

±39,370.0787

±3,937.00787

Max. rapid traverse (mm/min)^*1

999,000

100,000

Feedrate range （inch/min)^*1

0.001 to 96,000

0.0001 to 9,600

0.00001 to 4,000

Incremental feed (inch/step)

0.001

0.0001

0.00001

0.01

0.001

0.0001

0.1

0.01

0.001

1.0

0.1

0.01

Tool compensation amount (inch)^*2

0 to ±999.999

0 to ±999.9999

0 to ±999.99999

Backlash compensation amount (pulses)^*3

0 to ±9,999

Dwell (sec)^*4

0 to 999,999.99

0 to 999,999.999

0 to 99,999.9999

In case of inch input, feed screw is inch

Increment system

IS-A

IS-B

IS-C

Least input increment （inch）

0.001

0.0001

0.00001

Least command increment （inch）

0.001

0.0001

0.00001

Max. programmable dimension (inch)

±99,999.999

±99,999.9999

±9,999.99999

Max. rapid traverse (inch/min)^*1

96,000

9,600

4,000

Feedrate range （inch/min）^*1

0.001 to 96,000

0.0001 to 9,600

0.00001 to 4,000

Incremental feed (inch/step)

0.001

0.0001

0.00001

0.01

0.001

0.0001

0.1

0.01

0.001

1.0

0.1

0.01

Tool compensation amount (inch)^*4

0 to ±999.999

0 to ±999.9999

0 to ±999.99999

Backlash compensation amount (pulses)^*3

0 to ±9,999

Dwell (sec)^*4

0 to 999,999.99

0 to 999,999.999

0 to 99,999.9999

- 950 -

B-64304EN/02

APPENDIX

D.RANGE OF COMMAND VALUE

In case of millimeter input, feed screw is inch

Increment system

IS-A

IS-B

IS-C

Least input increment (mm)

0.01

0.001

0.0001

Least command increment (mm)

0.01

0.001

0.0001

Max. programmable dimension (mm)

±999,999.99

±999,999.999

±99,999.9999

Max. rapid traverse (inch/min)^*1

96,000

9,600

4,000

Feedrate range (mm/min)^*1

0.01 to 999,000

0.001 to 999,000

0.0001 to 100,000

Incremental feed (mm/step)

0.01

0.001

0.0001

0.1

0.01

0.001

1.0

0.1

0.01

10.0

1.0

0.1

Tool compensation amount (mm)^*2

0 to ±9,999.99

0 to ±9,999.999

0 to ±9,999.9999

Backlash compensation amount (pulses)^*3

0 to ±9,999

Dwell (sec)^*4

0 to 999,999.99

0 to 999,999.999

0 to 99,999.9999

Rotary axis

Increment system

IS-A

IS-B

IS-C

Least input increment (deg)

0.01

0.001

0.0001

Least command increment (deg)

0.01

0.001

0.0001

Max. programmable dimension (deg)

±999,999.99

±999,999.999

±99,999.9999

Max. rapid traverse (deg/min)^*1

999,000

100,000

Feedrate range (deg/min)^*1

0.01 to 999,000

0.001 to 999,000

0.0001 to 100,000

Incremental feed (deg/step)

0.01

0.001

0.0001

0.1

0.01

0.001

1.0

0.1

0.01

10.0

1.0

0.1

Tool compensation amount (deg)^*2

0 to ±9,999.99

0 to ±9,999.999

0 to ±9,999.9999

Backlash compensation amount (pulses)^*3

0 to ±9,999

Dwell (sec)^*4

0 to 999,999.99

0 to 999,999.999

0 to 99,999.9999

NOTE

*1 The feedrate range shown above are limitations depending on CNC interpolation

capacity. As a whole system, limitations depending on servo system must also

be considered.

*2 If the mode of input is switched between inch input and metric input, the

maximum compensation value that can be set at inch input time is (maximum

compensation value) × 1/25.4. If a value exceeding this value is specified at

inch input time, the compensation value is not converted to a metric value

correctly when the mode of input is switched to metric input.

*3 The unit is the detection unit.

*4 Depends on the increment system of the axis at in address X.

- 951 -

E.NOMOGRAPHS

APPENDIX

B-64304EN/02

E NOMOGRAPHS

Appendix E, "NOMOGRAPHS", consists of the following sections:

E.1 INCORRECT THREADED LENGTH

952

E.2 SIMPLE CALCULATION OF INCORRECT THREAD LENGTH

953

E.3 TOOL PATH AT CORNER

955

E.4 RADIUS DIRECTION ERROR AT CIRCLE CUTTING

957

E.1 INCORRECT THREADED LENGTH

The leads of a thread are generally incorrect in δ₁ and δ₂, as shown in Fig. E.1 (a), due to automatic

acceleration and deceleration.

Thus distance allowances must be made to the extent of δ₁ and δ₂ in the program.

δ₂

δ₁

Fig. E.1 (a) Incorrect thread position

Explanation

How to determine

δ₂

=T V (mm

)

(1)

V =

60RL

T₁

: Time constant of servo system (sec)

: Threading speed (mm/sec)

: Spindle speed (min^-1)

: Thread feed (mm)

Tim

e constant T₁ (sec) of the servo system: Usually 0.033 s.

How to determine δ₁

= {t - T

+ T exp( -

)} V

(2)

a = exp( -

(3)

T₁

: Time constant of servo system (sec)

: Threading speed (mm/sec)

Time constant T₁ (sec) of the servo system: Usually 0.033 s.

The lead at the beginning of thread cutting is shorter than the specified lead L, and the allowable lead

error is ΔL. Then as follows.

ΔL

- 952 -

B-64304EN/02

APPENDIX

E.NOMOGRAPHS

When the value of “a” is determined, the time lapse until the thread accuracy is attained. The time “t” is

substituted in (2) to determine δ₁: Constants V and T₁ are determined in the same way as for δ₂. Since the

calculation of δ₁ is rather complex, a nomography is provided on the following pages.

How to use nomograph

First specify the class and the lead of a thread. The thread accuracy, a, will be obtained at (1), and

depending on the time constant of cutting feed acceleration/ deceleration, the δ₁ value when V = 10mm/s

will be obtained at (2). Then, depending on the speed of thread cutting, δ₁ for speed other than 10mm/s

can be obtained at (3).

δ1(V=10mm/sec)

V=20mm/sec

V=40mm/sec

Time constant of servo system

(2)

(3)

(1)

δ1

(Note) See the graph in reference later in the manual for an actual example.

Fig. E.1 (b) Nomograph

NOTE

The equations for δ1, and δ2 are for when the acceleration/ deceleration time

constant for cutting feed is 0.

E.2 SIMPLE CALCULATION OF INCORRECT THREAD

LENGTH

δ₂

δ₁

Fig. E.2 (a) Incorrect threaded portion

Explanation

How to determine δ₂

1800*^(mm)

R : Spindle speed (min^-1)

L : Thread lead (mm)

* When time constant T1 of the servo system is 0.033 s.

- 953 -

E.NOMOGRAPHS

APPENDIX

B-64304EN/02

How to determine δ₁

1800*( - 1 - lna) (mm)

=δ ( - 1 - lna)(mm)

R : Spindle speed (min^-1)

L : Thread lead (mm)

* When time constant T₁ of the servo system is 0.033 s.

Following a is a permitted value of thread.

-1-lna

0.005

4.298

0.01

3.605

0.015

3.200

0.02

2.912

Example

R=350rpm

L=1mm

a=0.01

then

350×1

δ₂ =

1800

= 0.194(mm)

= δ ×3.605 = 0.701(mm)

Reference

δ1 (V=10mm/sec)

V : Speed in threading

V=10mm/sec

V=40mm/sec

V=30mm/sec

V=20mm/sec

(

0.39in/sec)

(

1.57in/sec)

(

1.18in/sec)

(

0.79in/sec)

V=2in/sec

V=1in/sec

Servo time constant

50msec

33msec

δ1

ΔL

8 (mm)

0.007

0.010

0.015

0.020

0.025

a= (

)

Metric thread

JIS class 1

3.3

3.0

2.52.0 1.5

1.2

1.0

0.9

0.7

0.4

0.3 (mm)P Lead

δ1

JIS class 2

5.0

4.0

3.5

3.0

2.5

2.0

1.75

1.5

1.25

1.0

0.9

0.8

0.75 (mm)

P Lead

0.3 (in)

0.2

0.1

Unified thread

7 8 910 121314

161820

JIS 2A

Ridge/inch

JIS 3A

7 8 9 1012

14161820

(Theoretical accuracy)

あ

Ridge/inch

Fig. E.2 (b) Nomograph for obtaining approach distance δ₁

- 954 -

B-64304EN/02

APPENDIX

E.NOMOGRAPHS

E.3 TOOL PATH AT CORNER

When servo system delay

(by exponential acceleration/deceleration at cutting or caused by the

positioning system when a servo motor is used) is accompanied by cornering, a slight deviation is

produced between the tool path (tool center path) and the programmed path as shown in Fig. E.3 (a).

Time constant T₁ of the exponential acceleration/deceleration is fixed to 0.

V₂

Programmed path

Tool path

V₁

Fig. E.3 (a) Slight deviation between the tool path and the programmed path

This tool path is determined by the following parameters:

• Feedrate (V

1, V2)

• Corner angle (θ)

•

Exponential acceleration / deceleration

time constant (T₁) at cutting (T₁

= 0)

•

Presence or absence of buffer register.

The above parameters are used to theoretically analyze the tool path and above tool path is drawn with the

parameter which is set as an example.

When actually programming, the above items must be considered and programming must be performed

carefully so that the shape of the workpiece is within the desired precision.

In other words, when the shape of the workpiece is not within the theoretical precision, the commands of

the next block must not be read until the specified feedrate becomes zero. The dwell function is then used

to stop the machine for the appropriate period.

Explanation

Analysis

The tool path shown in Fig. E.3 (b) is analyzed based on the following conditions:

• Feedrate is constant at both blocks before and after cornering.

• The controller has a buffer register. (The error differs with the reading speed of the tape reader,

number of characters of the next block, etc.)

- 955 -

E.NOMOGRAPHS

APPENDIX

B-64304EN/02

V_Y2

φ₂

V_X2

V_Y1

φ₂

V_X1

Fig. E.3 (b) Example of tool path

Description of conditions and symbols

V_X1 = Vcos φ₁

V_Y1 = Vsin φ₁

V_X2 = Vcos φ₂

V_Y2 = Vsin φ₂

: Feedrate at both blocks before and after cornering

V_X1 : X-axis component of feedrate of preceding block

V_Y1 : Y-axis component of feedrate of preceding block

V_X2 : X-axis component of feedrate of following block

V_Y2 : Y-axis component of feedrate of following block

: Corner angle

φ₁

: Angle formed by specified path direction of preceding block and X-axis

φ₂

: Angle formed by specified path direction of following block and X-axis

Initial value calculation

Y₀

X₀

Fig. E.3 (c) Initial value

The initial value when cornering begins, that is, the X and Y coordinates at the end of command

distribution by the controller, is determined by the feedrate and the positioning system time constant of

the servo motor.

- 956 -

B-64304EN/02

APPENDIX

E.NOMOGRAPHS

X =V (T

)

Y =V

)

T₁: Exponential acceleration/deceleration time constant. (T=0)

T₂: Time constant of positioning system (Inverse of position loop gain)

Analysis of corner tool path

The equations below represent the feedrate for the corner section in X-axis direction and Y-axis direction.

(

)

−

V )[

−

{T exp(−

)−T exp(−

)}

]

−

[

2 1

−

{T exp(−

)−T exp(−

)}]

−

(

)

−

exp(−

)− T

exp(−

)}

−

Therefore, the coordinates of the tool path at time t are calculated from the following equations:

X(t)

V (t)dt

−X

⁼∫

−

{T 2 exp(−

)− T

exp(−

)}− V

(T +T

−

)

−

Y(t)

V (t)dt

−

⁼∫

−

{T 2 exp(−

)− T

exp(−

)}− V

(T +T

−

)

−

E.4 RADIUS DIRECTION ERROR AT CIRCLE CUTTING

When a servo motor is used, the positioning system causes an error between input commands and output

results. Since the tool advances along the specified segment, an error is not produced in linear

interpolation. In circular interpolation, however, radial errors may be produced, specially for circular

cutting at high speeds.

This error can be obtained as follows:

- 957 -

E.NOMOGRAPHS

APPENDIX

B-64304EN/02

Δr

Command path

Actual path

Δr

(1-α

))

. . . 2 . (1)

Δr : Maximum radius error (mm)

v : Feedrate (mm/sec)

: Circle radius (mm)

T₁: Exponential acceleration/deceleration time constant at cutting (sec) (T=0)

T₂: Time constant of positioning system (sec)

(Inverse of position loop gain)

α : Feed forward coefficient (%)

In the case of bell-shaped acceleration/deceleration and linear acceleration/deceleration after cutting feed

interpolation, an approximation of this radius error can be obtained with the following expression:

Linear acceleration/deceleration after cutting feed interpolation

Δr

(

(1-α

))

Bell-shaped acceleration/deceleration after cutting feed interpolation

Δr

(

(1-α

))

Thus, the radius error in the case of bell-shaped acceleration/deceleration and linear acceleration/deceleration after

interpolation is smaller than in case of exponential acceleration/deceleration by a factor of 12, excluding any error

caused by a servo loop time constant.

Since the machining radius r (mm) and allowable error Δr

(mm) of the workpiece is given in actual

machining, the allowable limit feedrate v (mm /sec) is determined by equation (1).

Since the acceleration/deceleration time constant at cutting which is set by this equipment varies with the

machine tool, refer to the manual issued by the machine tool builder.

- 958 -

F.SETTINGS AT POWER-ON,

IN THE CLEAR STATE, OR

B-64304EN/02

APPENDIX

IN THE RESET STATE

F SETTINGS AT POWER-ON, IN THE CLEAR

STATE, OR IN THE RESET STATE

Either the clear state or reset state is entered during a reset is set by bit 6 (CLR) of parameter No. 3402 (0:

reset state/1: clear state).

The symbols in the figure below have the following meanings.

○ : The setting remains unchanged or the operation continues.

× : The setting is deleted or the operation stops.

Item

Power-on

Clear state

Reset state

Setting

Offset

○

Set data

○

Parameter

○

Various

Program in memory

○

data

Information of the block

items

read in advance during

automatic operation

N (sequence number)

× (Note 7)

× (Notes 1, 2, 7)

○ (Note 1, 2)

One-shot G code

Initial value (Note 3)

G20 and G21 are set to

Modal G code

G20 and G21 are

not

○ (Note 2 and 6)

the state at the previous

changed (Note 2).

power-off.

○ (Note 2)

S, T, M

○ (Note 2)

K (count specification)

Coordin

Workpiece coordinates

0 (Note 4)

○

ate

Operati

Movement

Dwell

during

M, S, T code output

executi

See

"Tool

Position

See

"Tool

Position

Tool position

Compensation

compensation

Reset".

Depending on the setting

Tool length

of bit 6 (LVK) of parameter

compensation

No. 5003

Tool radius/tool nose

radius compensation

Storing a called

× (Note 5)

subprogram

- 959 -

F. SETTINGS AT POWER-ON,

IN THE CLEAR STATE, OR

IN THE RESET STATE

APPENDIX

B-64304EN/02

Item

Power-on

Clear state

Reset state

Output

"0”(when no alarm cause

“0”

(when no alarm

“0”

(when no alarm

CNC alarm signal AL

signals

is present)

cause is present)

Reference position return

○ (or × for emergency

○(or × for emergency stop)

completion signal ZPx

stop)

S, T, B codes

○

M code

M, S, T, B strobe signals

Spindle rotation signal

○

(S analog signal)

CNC ready signal MA

“1”

○

“1”

Servo ready signal SA

(when a servo alarm does

not occur)

Cycle start signal STL

Feed hold signal SPL

Tool position compensation at a reset

○ : Cancelled.

× : Not canceled.

Bit 3 (LVC) of parameter No. 5006 and bit 7 (TGC) of parameter

Compensation method

No. 5003

LVC=0

LVC=1

LVC=0

LVC=1

TGC=0

TGC=1

Tool movement

Wear compensation

○

Geometry compensation

(Axis

(Axis movement)

movement)

Coordinate shift

Wear compensation

○

Geometry compensation

○

- 960 -

F.SETTINGS AT POWER-ON,

IN THE CLEAR STATE, OR

B-64304EN/02

APPENDIX

IN THE RESET STATE

NOTES

When the beginning position is found, the main program number is displayed.

If a reset is made during execution of a block, the states of the modal G code

and modal address (such as N, F, S, T, or M) specified in the block are not

reflected. The modal information specified in the previous and preceding

blocks is kept.

The initial value of the modal G code depends on the following parameters. For

details, refer to the parameter manual (B-63950).

- Parameter G01 (No.3402#0)

- Parameter G18 (No.3402#1)

- Parameter G19 (No.3402#2)

- Parameter G91 (No.3402#3)

- Parameter FPM (No.3402#4)

- Parameter G23 (No.3402#7)

- Parameters No. 3406 to No. 3409

For detection of an absolute position, the value is generated from machine

coordinates and a workpiece origin offset.

When a reset is made during execution of a subprogram, a return to the main

program is performed. Execution at a midpoint in the subprogram is

impossible.

When one of the following two settings, which hold the modal G code in group 1

by a reset is set:

- Reset state (bit 6 of parameter No. 3402 is 0)

- Clear state (bit 1 of parameter No. 3402 is 1) and

the modal G code in group 1 is held at a time of a reset (bit 1 of parameter No.

3406 is 1),

if a reset is made during execution of one of the following canned cycles, which

cause cycle operation, the mode of the modal G code in group 1 is changed to

the G01 mode.

- G90 : Outer surface/inner surface turning cycle

- G92 : Threading cycle

- G94 : Edge turning cycle

When bit 0 (SEK) of parameter No. 11353 is set to 1, sequence number N can

be held even at power-on or in the clear state.

- 961 -

G. CHARACTER-TO-CODES

CORRESPONDENCE

APPENDIX

B-64304EN/02

G CHARACTER-TO-CODES

CORRESPONDENCE TABLE

Appendix G, "CHARACTER-TO-CODES CORRESPONDENCE TABLE", consists of the following

sections:

G.1 CHARACTER-TO-CODES CORRESPONDENCE TABLE

962

G.2 FANUC DOUBLE-BYTE CHARACTER CODE TABLE

963

G.1

CHARACTER-TO-CODES CORRESPONDENCE TABLE

Character

Code

Comment

Character

Code

Comment

065

054

066

055

067

056

068

057

069

032

Space

070

033

Exclamation mark

071

”

034

Quotation mark

072

035

Sharp

073

036

Dollar sign

074

037

Percent

075

038

Ampersand

076

’

039

Apostrophe

077

(

040

Left parenthesis

078

)

041

Right parenthesis

079

042

Asterisk

080

043

Plus sign

081

044

Comma

082

045

Minus sign

083

046

Period

084

047

Slash

085

058

Colon

086

;

059

Semicolon

087

060

Left angle bracket

088

061

Equal sign

089

062

Right angle bracket

090

063

Question mark

048

064

At mark

049

[

091

Left square bracket

050

]

093

Right square bracket

051

094

052

095

Underscore

053

- 962 -

FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. OPERATOR'S MANUAL - page 33