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FANUC Series Series 16i-TB, Series 18i-TB, Series 160i-TB, Series 180i-TB. OPERATOR’S MANUAL - page 8

13. FUNCTIONS TO SIMPLIFY

B-63524EN/01

PROGRAMMING

PROGRAMMING

Examples

M51 ;

Setting C-axis index mode ON

M3 S2000 ;

Rotating the drill

G00 X50.0 C0.0 ;

Positioning the drill along the X- and

C-axes

G83 Z-40.0 R-5.0 P500 F5.0 M31 ; Drilling hole 1

C90.0 M31 ;

Drilling hole 2

C180.0 M31 ;

Drilling hole 3

C270.0 M31 ;

Drilling hole 4

G80 M05 ;

Canceling the drilling cycle and

stopping drill rotation

M50 ;

Setting C-axis index mode off

13.3.2

This cycle performs tapping.

In this tapping cycle, when the bottom of the hole has been reached, the

Front Tapping Cycle

spindle is rotated in the reverse direction.

(G84) / Side Tapping

Cycle (G88)

Format

G84 X(U)_ C(H)_ Z(W)_ R_ P_ F_ K_ M_ ;

or

G88 Z(W)_ C(H)_ X(U)_ R_ P_ F_ K_ M_ ;

X_ C_ or Z_ C_ : Hole position data

Z_ or X_

: The distance from point R to the bottom of the hole

R_ : The distance from the initial level to point R level

P_ : Dwell time at the bottom of a hole

F_ : Cutting feedrate

K_ : Number of repeats (When it is needed.)

M_ : M code for C-axis clamp (when it is needed.)

G84 or G88 (G98 mode)

G84 or G88 (G99 mode)

Mα

Initial level

Mα

Spindle CW

Spindle CW

M (a+1), P2

M (a+1), P2

Point R

Point R level

Point R

Point Z

Point Z

P1

P1

Spindle CCW

Spindle CCW

Explanations

Tapping is performed by rotating the spindle clockwise. When the bottom

of the hole has been reached, the spindle is rotated in the reverse direction

for retraction. This operation creates threads.

Feedrate overrides are ignored during tapping. A feed hold does not stop

the machine until the return operation is completed.

189

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PROGRAMMING

PROGRAMMING

13.3.3

This cycle is used to bore a hole.

Front Boring Cycle

(G85) / Side Boring

Cycle (G89)

Format

G85 X(U)_ C(H)_ Z(W)_ R_ P_ F_ K_ M_ ;

or

G89 Z(W)_ C(H)_ X(U)_ R_ P_ F_ K_ M_ ;

X_ C_ or Z_ C_ : Hole position data

Z_ or X_

: The distance from point R to the bottom of the hole

R_ : The distance from the initial level to point R level

P_ : Dwell time at the bottom of a hole

F_ : Cutting feedrate

K_ : Number of repeats (When it is needed.)

M_ : M code for C-axis clamp (When it is needed.)

G85 or G89 (G98 mode)

G85 or G89 (G99 mode)

Mα

Initial level

Mα

Point R level

M (a)1), P2

Point R

Point R

M (a)1), P2

Point Z

Point Z

P1

P1

Explanations

After positioning, rapid traverse is performed to point R.

Drilling is performed from point R to point Z.

After the tool reaches point Z, it returns to point R at a feedrate twice the

cutting feedrate.

Examples

M5 1 ;

Setting C-axis index mode ON

M3 S2000 ;

Rotating the drill

G00 X50.0 C0.0 ;

Positioning the drill along the X- and

C-axes

G83 Z-40.0 R-5.0 P500 F5.0 M31 ; Drilling hole 1

C90.0 M31 ;

Drilling hole 2

C180.0 M31 ;

Drilling hole 3

C270.0 M31 ;

Drilling hole 4

G80 M05 ;

Canceling the drilling cycle and

stopping drill rotation

M50 ;

Setting C-axis index mode off

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PROGRAMMING

PROGRAMMING

B-63524EN/01

13.3.4

G80 cancels canned cycle.

Canned Cycle for

Drilling Cancel (G80)

Format

G80 ;

Explanations

Canned cycle for drilling is canceled to perform normal operation.

Point R and point Z are cleared. Other drilling data is also canceled

(cleared).

Examples

M51 ;

Setting C-axis index mode ON

M3 S2000 ;

Rotating the drill

G00 X50.0 C0.0 ;

Positioning the drill along the X- and

C-axes.

G83 Z-40.0 R-5.0 P500 F5.0 M31 ; Drilling hole 1

C90.0 M31 ;

Drilling hole 2

C180.0 M31 ;

Drilling hole 3

C270.0 M31 ;

Drilling hole 4

G80 M05 ;

Canceling the drilling cycle and

stopping drill rotation

M50 ;

Setting C-axis index mode off

192

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PROGRAMMING

PROGRAMMING

B-63524EN/01

There are four grinding canned cycles : the traverse grinding cycle (G71),

13.4

traverse direct fixed-dimension grinding cycle, oscillation grinding

CANNED GRINDING

cycle, and oscillation direct fixed-dimension grinding cycle.

CYCLE

With a machine tool that allows canned cycles for grinding to be used, the

multiple repetitive canned cycle for turning cannot be used.

(FOR GRINDING

MACHINE)

13.4.1

Traverse Grinding

Cycle (G71)

Format

G71 A_ B_ W_ U_ I_ K_ H_ ;

X

W

(1) (I)

A

(3) (K)

(2)

U(dwell)

(4) (I)

B

(5)(dwell)

(6) (K)

Z

A : First depth of cut

B : Second depth of cut

W : Grinding range

U : Dwell time Maximum specification time : 99999.999 seconds

I : Feedrate of A and B

K : Feedrate of W

H : Number of repetitions Setting value : 1 to 9999

Explanations

The specification ranges and units of the canned cycle for grinding are

described below.

Move command Range : ±8 digits

Units : 1 µm/0.0001 inch

Feedrate Range

Feed per minute : 0.001 to 240000 mm/min

0.0001 to 9600 inch/min

(for 1 µm/0.0001 inch)

Feed per revolution :

0.00001 to 500 mm/rev

0.00001 to 9 inch/rev

A, B, and W are to be specified in an incremental mode.

In the case of a single block, the operations 1, 2, 3, 4, 5, and 6 are

performed with one cycle start operation.

A=B=0 results in a spark-out.

194

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PROGRAMMING

PROGRAMMING

13.4.2

Traverse Direct

Fixed-dimension

Grinding Cycle (G72)

Format

G72 P_ A_ B_ W_ U_ I_ K_ H_ ;

P : Gauge number (1 to 4)

A : First depth of cut

B : Second depth of cut

W : Grinding range

U : Dwell time Maximum specification time : 99999.999seconds

I : Feedrate of A and B

K : Feedrate of W

H : Number of repetitions Setting value : 1 to 9999

Explanations

When the multistage skip operation is used, a gauge number can be

specified. The method of gauge number specification is the same as the

method of multistage skip function. When the multistage skip operation

is not used, the conventional skip signal is valid.

The same specifications as G71 apply except for gauge number

specification.

D Operation at the time of

1. When the tool moves along the Z-axis to grind a workpiece, if a skip

skip signal input

signal is input, the tool returns to the Z coordinate where the cycle

started after the tool reaches the end of the specified grinding area.

(Termination)

(Skip signal)

(Skip signal)

(Termination)

2. When the tool cuts a workpiece along the X-axis, if a skip signal is

input, the tool stops cutting immediately and returns to the Z

coordinate where the cycle started.

(Skip signal)

(Termination)

(Skip signal)

(Termination)

3. The skip signal is valid during dwell, without being affected by

parameters DS1 to DS8 (No. 6206#0 to #7). Dwell is immediately

stopped for return to the Z axis coordinate where the cycle started.

195

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PROGRAMMING

B-63524EN/01

13.4.3

Oscillation Grinding

Cycle (G73)

Format

G73 A_ (B_) W_ U_ K_ H_ ;

Z

W

(1)

(2) (K)

U (dwell)

A

U (dwell)

(3)

(B)

(4) (K)

X

A : Depth of cut

B : Depth of cut

W : Grinding range

U : Dwell time

K : Feedrate

H : Number of repetitions Setting value : 1A9999

Explanations

A, B, and W are to be specified in an incremental mode.

In the case of a single block, the operations 1, 2, 3, and 4 are performed

with one cycle start operation.

The specification of B is valid only for a specified block. This is not

associated with B of the G71 or G72 cycle.

196

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

PROGRAMMING

13.4.4

Oscillation Direct

Fixed-Dimension

Grinding Cycle

Format

G74 P_ A_ (B_) W_ U_ K_ H_ ;

P : Gauge number (1 to 4)

A : Depth of cut

B : Depth of cut

W : Grinding range

U : Dwell time

K : Feedrate of W

H : Number of repetitions Setting value : 1 to 9999

Explanations

When the multistage skip operation is used, a gauge number can be

specified. The method of gauge number specification is the same as the

method of multistage skip function. When the multistage skip operation

is not used, the conventional skip signal is valid.

The same specifications as G73 apply to the other items.

D Operation at the time of

1. When the tool moves along the Z-axis to grind a workpiece, if a skip

skip signal input

signal is input, the tool returns to the Z coordinate where the cycle

started after the tool reaches the end of the specified grinding area.

Skip signal

Skip signal

(Termination)

(Termination)

2. The skip signal is valid during dwell, without being affected by

parameters DS1 to DS8 (No. 6206#0 to #7). Dwell is immediately

stopped for return to the Z axis coordinate where the cycle started.

NOTE

1

The data items A, B, W, I, and K in a canned cycle are modal

values common to G71 through G74. The data items A, B,

W, U, I and K are cleared when a one-shot G code other

than G04 or a 01 group G code other than G71 to G74 is

specified.

2

No B code can be specified in the canned cycle mode.

197

13. FUNCTIONS TO SIMPLIFY

PROGRAMMING

PROGRAMMING

B-63524EN/01

A chamfer or corner can be inserted between two blocks which intersect

13.5

at a right angle as follows :

CHAMFERING AND

CORNER R

D Chamfering

Z → X

Format

Tool movement

G01 Z(W) _ I (C) ±i ;

+x

Specifies movement to point

b with an absolute or incremental

45°

command in the figure on the

c

right.

i

a

d

b

Start point

-i

c

45°

Moves as

a→d→c

-x

(For -X movement, -i)

Fig. 13.5 (a) Chamfering (Z→X)

D Chamfering

X → Z

Format

Tool movement

Start point

G01 X(U) _ K (C) ±k ;

a

Moves as

Specifies movement to point

a→d→c

b with an absolute or incremental

command in the figure on the

right.

d

45°

45°

-z

+z

c

b

c

-k

k

(For -Z movement, -k)

Fig. 13.5 (b) Chamfering (X→Z)

D Corner R

Z → X

Format

Tool movement

G01 Z(W) _ R ±r ;

+x

Specifies movement to point

b with an absolute or incremental

r

command in the figure on the

c

right.

a

d

b

Start point

c

-r

Moves as

a→d→c

-x

(For -X movement, -r)

Fig. 13.5 (c) Corner R (Z→X)

198

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

PROGRAMMING

D Corner R

X → Z

Format

Tool movement

Start point

G01 X(U) _ R ±r ;

a

Specifies movement to point

b with an absolute or incremental

(For -x movement,

Moves as

command in the figure on the

-r)

a→d→c

right.

-r

d

r

-z

+z

c

b c

Fig. 13.5 (d) Corner R (X→Z)

Explanations

The movement for chamfering or corner R must be a single movement

along the X or Z axis in G01 mode. The next block must be a single

movement along the X or Z axis perpendicular to the former block.

I or K, and R always specify a radius value.

Note that the start point for a command specified in a block following a

chamfering or corner-R block is not point c but point b shown in Figs.

13.5 (a) to (d). In incremental programming, specify a distance from point

b.

Examples

N1Z270.0R6.0;

X

N2X860.0K-3.0;

530.0

N3Z0;

270.0

C3

N3

N2

R6

N1

Z

φ860

φ268

199

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

B-63524EN/01

NOTE

1

The following commands cause an alarm.

1) One of I, K, or R is commanded when X and Z axes are

specified by G01.

(P/S alarm No. 054)

2) Move amount of X or Z is less than chamfering value and

corner R value in the block where chamfering and corner

R are specified.

(P/S alarm No. 055)

3) Next block to the block where chamfering and corner R

were specified, has not G01 command. (P/S alarm No.

051, 052)

4) If more than one of I, K, and R are specified in G01, P/S

alarm No. 053 is issued.

2

A single block stops at point c in Fig. 13.5 (a) — (d) not at

point d.

3

Chamfering and corner R cannot be applied to a thread

cutting block.

4

C can be used instead of I or K as an address for chamfering

on the system which does not use C as an axis name. To

use C for an address for chamfering, fix parameter CCR No.

3405#4 to 1.

5

If both C and R are specified with G01 in a block, the

address specified last is valid.

6

Neither chamfering nor corner-R machining can be

specified in direct drawing dimension programming.

200

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

PROGRAMMING

13.6

MIRROR IMAGE FOR

DOUBLE TURRET

(G68, G69)

Format

G68 : Double turret mirror image on

G69 : Mirror image cancel

Explanations

Mirror image can be applied to X-axis with G code.

When G68 is designated, the coordinate system is shifted to the mating

turret side, and the X-axis sign is reversed from the programmed

command to perform symmetrical cutting. To use this function, set the

distance between the two turrets to a parameter (No. 1290).

Examples

D Double turret

programming

X

Offset value of

tool post A

Tool post A

(3)

60

120

80φ

(1)

40φ

Z

180

120φ

120

(2)

Offset value of

tool post B

Tool post B

X40.0 Z180.0 T0101 ; Position turret A at (1)

G68 ;

Shift the coordinate system by the distance A to B

(120mm), and turn mirror image on.

X80.0 Z120.0 T0202 ; Position turret B at (2)

G69 ;

Shift the coordinate system by the distance B to A,

and turn mirror image cancel.

X120.0 Z60.0 T0101 ; Position turret A at (3)

201

13. FUNCTIONS TO SIMPLIFY

PROGRAMMING

PROGRAMMING

B-63524EN/01

Angles of straight lines, chamfering value, corner rounding values, and

13.7

other dimensional values on machining drawings can be programmed by

DIRECT DRAWING

directly inputting these values. In addition, the chamfering and corner

DIMENSIONS

rounding can be inserted between straight lines having an optional angle.

PROGRAMMING

This programming is only valid in memory operation mode.

Format

Table 13.7 Commands table

Commands

Movement of tool

X

X₂_ (Z₂_), A_ ;

(X₂ , Z₂)

1

A

(X₁ , Z₁)

Z

X

,A_{1_}

;

X

3_ Z3_, A2_ ;

(X₃ , Z₃)

A₂

2

A₁

(X₂ , Z₂)

(X₁ , Z₁)

Z

X₂_ Z₂_, R₁_ ;

X

X₃_ Z₃_ ;

(X₃ , Z₃)

or

,A₁_, R₁_ ;

A₂

R

X₃_ Z₃_, A₂_ ;

3

1

A₁

(X₂ , Z₂)

(X₁ , Z₁)

Z

X

X₂_ Z₂_, C₁_ ;

X₃_ Z₃_ ;

(X₃ , Z₃)

or

A₂

,A₁_, C₁_ ;

X₃_ Z₃_, A₂_ ;

4

C₁

A₁

(X₂ , Z₂)

(X₁ , Z₁)

Z

202

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

PROGRAMMING

Commands

Movement of tool

X

X₂_ Z₂_ , R₁_ ;

(X₄ , Z₄)

(X₃ , Z₃)

X₃_ Z₃_ , R₂_ ;

X₄_ Z₄_ ;

A₂

or

R₂

5

,A₁_, R₁_ ;

X₃_ Z₃_, A₂_, R₂_ ;

R

X₄_ Z₄_ ;

1

A₁

(X₂ , Z₂)

(X₁ , Z₁)

Z

X

X₂_ Z₂_ , C₁_ ;

X₃_ Z₃_ , C₂_ ;

C₂

X₄_ Z₄_ ;

or

(X₄ , Z₄)

(X₃ , Z₃)

,A₁_, C₁_ ;

A₂

6

X₃_ Z₃_, A₂_, C₂_ ;

X₄_ Z₄_ ;

(X₂ , Z₂)

C₁

A₁

(X₁ , Z₁)

Z

X

X₂_ Z₂_ , R₁_ ;

X₃_ Z₃_ , C₂_ ;

C₂

X₄_ Z₄_ ;

(X₃ , Z₃)

(X₄ , Z₄)

or

,A₁_, R₁_ ;

A₂

7

X₃_ Z₃_, A₂_, C₂_ ;

X₄_ Z₄_ ;

R

1

A₁

(X₂ , Z₂)

(X₁ , Z₁)

Z

X

X₂_ Z₂_ , C₁_ ;

X₃_ Z₃_ , R₂_ ;

(X₄ , Z₄)

X₄_ Z₄_ ;

(X₃ , Z₃)

or

,A₁_, C₁_ ;

A₂

8

R₂

X₃_ Z₃_, A₂_, R₂_ ;

X₄_ Z₄_ ;

(X₂ , Z₂)

C₁

A₁

(X₁ , Z₁)

Z

203

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

B-63524EN/01

Explanations

A program for machining along the curve shown in Fig. 13.7 (a) is as

follows :

+X

X (x₂) Z (z₂) , C (c₁) ;

a₃

X (x₃) Z (z₃) , R (r₂) ;

X (x₄) Z (z₄) ;

(x₃, z₃)

+Z

(x₄, z₄)

o

r₂

a₂

,Ar(a₁) , C (c₁) ;

X (x₃) Z (z₃) , A (a₂) , R (r₂) ;

X (x₄) Z (z₄) ;

(x₂, z₂)

1

a

c₁

(x₁, z₁)

Start point

Fig. 13.7 Machining Drawing (example)

For command a straight line, specify one or two out of X, Z, and A.

If only one is specified, the straight line must be primarily defined by a

command in the next block.

To command the degree of a straight line or the value of chamfering or

corner R, command with a comma (,) as follows :

, A_

, C_

, R_

By specifying 1 to parameter CCR No. 3405#4 on the system which does

not use A or C as an axis name, the degree of a straight line or the value

of chamfering or corner R can be commanded without a comma (,) as

follows :

A_

C_

R_

204

13. FUNCTIONS TO SIMPLIFY

B-63524EN/01

PROGRAMMING

PROGRAMMING

NOTE

1

The following G codes are not applicable to the same block

as commanded by direct input of drawing dimensions or

between blocks of direct input of drawing dimensions which

define sequential figures.

1) G codes (other than G04) in group 00.

2) G02, G03, G90, G92, and G94 in group 01.

2

Corner rounding cannot be inserted into a threading block.

3

Chamfering and corner R using the direct input of drawing

dimensions cannot be used simultaneously with the

chamfering and corner R described in Section 13.5.

(The

option for chamfering and corner R and that for the direct

input of drawing dimensions cannot be selected

simultaneously.)

4

When the end point of the previous block is determined in

the next block according to sequential commands of direct

input of drawing dimensions, the single block stop is not

done, but the feed hold stop is done at the end point of the

previous block.

5

The angle allowance in calculating the point of intersection

in the program below is ±1°.

(Because the travel distance to be obtained in this

calculation is too large.)

1) X_ , A_ ; (If a value within 0°±1°or 180°±1°is specified for

the angle instruction, the P/S alarm No.057 occurs.)

2) Z_ , A_ ; (If a value within 90°±1°or 270°±1°is specified

for the angle instruction, the P/S alarm No. 057 occurs.)

6

An alarm occurs if the angle made by the 2 lines is within

±1°when calculating the point of intersection.

7

Chamfering or corner % is ignored if the angle made by the

2 lines is within ±1°.

8

Both a dimensional command (absolute programming) and

angle instruction must be specified in the block following a

block in which only the angle instruction is specified.

(Example)

N1 X_, A_, R_ ;

N2, A_ ;

N3 X_ Z_, A_ ;

(In addition to the dimentional command, angle instruction

must be specified in block No. 3.)

205

13. FUNCTIONS TO SIMPLIFY

PROGRAMMING

PROGRAMMING

B-63524EN/01

Examples

X

R20

R15

R6

φ 300

φ 100

Z

φ 60

10°

1×45°

30

180

22°

(Diameter specification, metric input)

N001 G50 X0.0 Z0.0 ;

N002 G01 X60.0, A90.0, C1.0 F80 ;

N003 Z-30.0, A180.0, R6.0 ;

N004 X100.0, A90.0 ;

N005 ,A170.0, R20.0 ;

N006 X300.0 Z-180.0, A112.0, R15.0 ;

N007 Z-230.0, A180.0 ;

:

:

206

13. FUNCTIONS TO SIMPLIFY

PROGRAMMING

PROGRAMMING

B-63524EN/01

13.8.1

Controlling the spindle motor in the same way as a servo motor in rigid

mode enables high-speed tapping.

Front Face Rigid

Tapping Cycle (G84) /

Side Face Rigid

Tapping Cycle (G88)

Format

G84 X(U)_ C(H)_ Z(W)_ R_ P_ F_ M_ K_ ;

or

G88 Z(W)_ C(H)_ X(U)_ R_ P_ F_ M_ K_ ;

X_ C_ or Z_ C_ : Hole position data

Z_ or X_

: The distance from point R to the bottom of the hole

R_ : The distance from the initial level to point R level

P_ : Dwell time at the bottom of a hole

F_ : Cutting feedrate

K_ : Number of repeats (When it is needed.)

M_ : M code for C-axis clamp (when it is needed.)

G84 or G88 (G98 mode)

G84 or G88 (G99 mode)

Spindle stop

Spindle stop

Initial level

Operation 1

Operation 6

Operation 2

Spindle stop

Spindle CW

Spindle

Spindle CW

P

P

stop

Point R level

Point R

Point R

Operation 3

Operation 5

Point Z

Point Z

P

P

Operation 4

Spindle stop

Spindle stop

Spindle CCW

Spindle CCW

Explanations

Once positioning for the X-axis (G84) or Z-axis (G88) has been

completed, the spindle is moved, by rapid traverse, to point R. Tapping

is performed from point R to point Z, after which the spindle stops and

observes a dwell time. Then, the spindle starts reverse rotation, retracts

to point R, stops rotating, then moves to the initial level by rapid traverse.

During tapping, the feedrate override and spindle override are assumed

to be 100%. For retraction (operation 5), however, a fixed override of up

to 2000% can be applied by setting parameter No. 5211 (RGOVR), bit 4

(DOV) of parameter No. 5200, and bit 3 (OVU) of parameter of No. 5201.

D Rigid mode

Rigid mode can be specified by applying any of the following methods:

D Specifying M29S***** before a tapping block

D Specifying M29S***** within a tapping block

D Handling G84 or G88 as a G code for rigid tapping (Set bit 0 (G84) of

parameter No. 5200 to 1.)

208

13. FUNCTIONS TO SIMPLIFY

B-63524EN/01

PROGRAMMING

PROGRAMMING

D Thread lead

In feed per minute mode, the feedrate divided by the spindle speed is equal

to the thread lead. In feed per rotation mode, the feedrate is equal to the

thread lead.

Limitations

D S commands

When a value exceeding the maximum rotation speed for the gear being

used is specified, P/S alarm No. 200 is issued. For an analog spindle,

when a command is specified such that more than 4095 pulses are

generated during 8 ms (detection unit), P/S alarm No. 202 is issued. For

a serial spindle, when a command is specified such that more than 32767

pulses are generated during 8 ms (detection unit), P/S alarm No. 202 is

issued.

<Example>

For a built-in motor equipped with a detector having a resolution of

4095 pulses per rotation, the maximum spindle speed during rigid

tapping is as follows:

For an analog spindle

(4095×1000÷8×60)÷4095 = 7500 (rpm)

For a serial spindle

(32767×1000÷8×60)÷4095 = 60012 (rpm) [Note: Ideal value]

D F commands

Specifying a value larger than the upper limit for cutting feed will cause

P/S alarm No. 201 to be issued.

D M29

Specifying an S command or axis movement between M29 and M84 will

cause P/S alarm No. 203 to be issued. Specifying M29 during a tapping

cycle will cause P/S alarm No. 204 to be issued.

D Rigid tapping command

The M code used to specify rigid tapping mode is usually set in parameter

M code

No. 5210. To set a value of more than 255, however, use parameter No.

5212.

D Maximum position

The maximum position deviation during movement along the tapping

deviation during

axis in rigid tapping mode is usually set in parameter No. 5310. Use

movement along the

parameter No. 5314, however, when setting a value of more than 32767,

tapping axis

for example, according to the resolution of the detector being used.

D R

The value of R must be specified in a block which performs drilling. If

the value is specified in a block which does not perform drilling, it is not

stored as modal data.

D Cancellation

G00 to G03 (G codes in group 01) must not be specified in a block

containing G84 or G88. If specified, G84 or G88 in that block is canceled.

D Tool position offset

Any tool position offset is ignored in canned cycle mode.

D Units for F

Metric input

Inch input

Remark

G98

1 mm/min

0.01inch/min

Decimal point allowed

G99

0.01mm/rev

0.0001inch/rev

Decimal point allowed

209

13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

PROGRAMMING

Coordinate conversion about an axis can be carried out if the center of

13.9

rotation, direction of the axis of rotation, and angular displacement are

THREE-

specified. This function is very useful for three-dimensional machining

DIMENSIONAL

such as B-axis machining. For example, if a program specifying

COORDINATE

machining on the ZX plane is converted by the three-dimensional

coordinate conversion function, the identical machining can be executed

CONVERSION

on a desired plane in three-dimensional space.

(G68.1, G69.1)

X

X*

Z

Z*

B

Surface to

be machined

Z

#1

#4

#2

#3

Y

Machining such as milling, pocketing, and

drilling is performed.

Format

G68.1 Xp x₁ Yp y₁ Zp z₁ I_i1 J j₁ K k₁ R_α ; Starting three-dimensional

coordinate conversion

@

@

@

Three-dimensional coordi-

@

nate conversion mode

G69.1 ;

Canceling three-dimensional

coordinate conversion

Xp, Yp, Zp : Center of rotation (absolute coordinates) on the X, Y, and Z

axis or parallel axes

I, J, K :

Direction of the axis of rotation

R

:

Angular displacement

Explanations

D Command for

N1 G68.1 Xp x1 Yp y1 Zp z1 I i1 J j1 K k1 R _α ;

three-dimensional

N2 G68.1 Xp x2 Yp y2 Zp z2 I i2 J j2 K k2 R β ;

coordinate conversion

N3

(program coordinate

:

system)

Nn G69.1 ;

Three-dimensional coordinate conversion can be executed twice.

211

13.

FUNCTIONS TO SIMPLIFY

PROGRAMMING

PROGRAMMING

B-63524EN/01

In the N1 block, specify the center, direction of the axis of rotation, and

angular displacement of the first rotation. When this block is executed,

the center of the original coordinate system is shifted to (x₁, y₁, z₁), then

rotated around the vector (i₁, j₁, k₁) by angular displacement _α. The new

coordinate system is called X’Y’Z’. In the N2 block, specify the center,

direction of the axis of rotation, and angular displacement of the second

rotation. In the N2 block, specify coordinates and the angle with the

coordinate system formed after the N1 block in Xp, Yp, Zp, I, J, K, and

R. When the N2 block is executed, the X’Y’Z’ coordinate system is

shifted to (x₂, y₂, z₂), then rotated around the vector (i₂, j₂, k₂) by angular

displacement _β . The newest coordinate system is called X’’Y’’Z’’. In the

subsequent N3 block, coordinates in the X’’Y’’Z’’ coordinate system are

specified with Xp, Yp, and Zp. The X’’Y’’Z’’ coordinate system is called

the program coordinate system.

If (Xp, Yp, Zp) is not specified in the N2 block, (Xp, Yp, Zp) in the N1

block is assumed to be the center of the second rotation (the N1 and N2

blocks have a common center of rotation). If the coordinate system is to

be rotated only once, the N2 block need not be specified.

Example) G68.1 Xx₀ Yy₀ Zz₀ I0 J0 K1 Rα ;

G68.1 I1 J0 K0 Rβ ;

Z

Z’

Z"

Y"

β

Y’

β

P (x, y, z)

z

α

x

Y

y

O (x₀, y₀, z₀)

α

X

X, Y, Z

:

Workpiece coordinate system

X’, Y’, Z’ :

Coordinate system formed after the first conversion

X”, Y”, Z”

:

Coordinate system formed after the second conversion

α:

Angular displacement of the first rotation

β :

Angular displacement of the second rotation

O (x₀, y₀, z₀):

Center of rotation

P (x, y, z)

: Coordinates in the X’’Y’’Z’’ coordinate system (program

coordinate system)

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13. FUNCTIONS TO SIMPLIFY

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PROGRAMMING

PROGRAMMING

D Format error

If one of the following format errors is detected, P/S alarm No. 5044 occurs:

1. When I, J, or K is not specified in a block with G68.1

(a parameter of coordinate system rotation is not specified)

2. When I, J, and K are all set to 0 in a block with G68.1

3. When R is not specified in a block with G68.1

D Center of rotation

Specify absolute coordinates with Xp, Yp, and Zp in the G68.1 block.

D Equation for

The following equation shows the general relationship between (x, y, z)

three-dimensional

in the program coordinate system and (X, Y, Z) in the original coordinate

coordinate conversion

system (workpiece coordinate system).

X

x

x₁

Y

= M₁

y₁

y

+

Z

z

z₁

When conversion is carried out twice, the relationship is expressed as follows:

X

x

x₂

x₁

Y

= M₁

M₂

M₁

y₂

y₁

y

+

+

Z

z

z₂

z₁

X, Y, Z

: Coordinates in the original coordinate system

(workpiece coordinate system or machine coordinate system)

x, y, z : Programmed value

(coordinates in the program coordinate system)

x₁, y₁, z₁

: Center of rotation of the first conversion

x₂, y₂, z₂

: Center of rotation of the second conversion

(coordinates in the coordinate system formed after the

first conversion)

M₁

: First conversion matrix

M₂

: Second conversion matrix

M1 and M2 are conversion matrices determined by an angular displacement and

rotation axis. Generally, the matrices are expressed as shown below:

n₁₂+(1-n₁₂) cosθ

n₁n₂ (1-cosθ)-n₃sinθ n₁n₃ (1-cosθ)+n₂sinθ

n₁ n₂ (1-cosθ)+n₃ sinθ

n₂₂+(1-n₂₂) cosθ

n₂ n₃ (1-cosθ)-n₁ sinθ

n₁ n₃ (1-cosθ)-n₂ sinθ n₂ n₃ (1-cosθ)+n₁ sinθ n₃₂+(1-n₃₂) cosθ

i

n₁

: Cosine of the angle made by the rotation axis and X-axis

p

j

n₂

: Cosine of the angle made by the rotation axis and Y-axis

p

k

n₃

: Cosine of the angle made by the rotation axis and Z-axis

p

θ: Angular displacement

Value p is obtained by the following:

p = i²+j²+k²

Conversion matrices for rotation on two-dimensional planes are shown below:

(1) Coordinate conversion on the XY plane

cosθ

-sinθ

0

M= sinθ cosθ

0

0

ă0

1

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13. FUNCTIONS TO SIMPLIFY

PROGRAMMING

PROGRAMMING

B-63524EN/01

Examples

An example of G code system B is described below.

N1 G90 X0 Y0 Z0 ;

Carries out positioning to zero point H.

N2 G68.1 X10. Y0 Z0 I0 J1 K0 R30. ;

Forms new coordinate system X’Y’Z’.

N3 G68.1 X0 Y-10. Z0 I0 J0 K1 R-90. ; Forms other coordinate system X’’Y’’Z’’.

The origin agrees with

(0,

-10,

0) in

coordinate system X’Y’Z.

N4 G90 X0 Y0 Z0 ;

Carries out positioning to zero point H’’ on

coordinate system X’’Y’’Z’’.

N5 X10. Y10. Z0 ;

Carries out positioning to (10, 10, 0) on

coordinate system X’’Y’’Z’’.

Y

Y’

X’

10

30°

H

H’

X

N4

Y”

-10

H”

N5

Z

Z’

(10, 10, 0)

30°

Z”

X”

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