FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. For Lathe System USER’S MANUAL

5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

Linear→Linear

Start point

(Circular

connection type)

G42

Workpiece

Programmed path

Tool nose radius center path

Type

Linear→Circular

Start point

(Circular

connection type)

G42

Work-

piece

Tool nose radius center path

Programmed path

- Tool movement around the outside linear → linear at an acute angle less than 1

degree (α<1°)

Tool nose radius center path

Programmed path

(G41)

G41

Start point

Less than 1 deg

- A block without tool movement specified at start-up

For type A and B

If the command is specified at start-up, the offset vector is not created.

The tool does not operate in a start-up block.

Tool nose radius

center path

G40 … ;

N6 U100.0 W100.0 ;

N7 G41 U0 ;

N8 U-100.0 ;

N9 U-100.0 W100.0 ;

Programmed path

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

5.3.3

Tool Movement in Offset Mode

In offset mode, compensation is performed even for positioning

commands, not to speak of linear and circular interpolations. To

perform intersection calculation, it is necessary to read at least two

blocks with tool movement. If, therefore, two or more blocks with

tool movement cannot be read in offset mode because blocks without

tool movement, such as auxiliary function independent commands and

dwell, are specified in succession, excessive or insufficient cutting

may occur because intersection calculation fails. Assuming the

number of blocks to read in offset mode, which is determined by

parameter (No. 19625), to be N and the number of commands in those

N blocks without tool movement that have been read to be M, the

condition under which intersection calculation is possible is (N - 2) ≥

M. For example, if the maximum number of blocks to read in offset

mode is 5, intersection calculation is possible even if up to three

blocks without tool movement are specified.

NOTE

The condition necessary for an interference check,

described later, differs from this condition. For

details, see the explanation of the interference

check.

If a G or M code in which buffering is suppressed is specified, no

subsequent commands can be read before that block is executed,

regardless of the setting of parameter (No. 19625). Excessive or

insufficient cutting may, therefore, occur because of an intersection

calculation failure.

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- Tool movement around the inside of a corner (180°≤ α)

Linear→Linear

Workpiece

Programmed path

Tool nose radius

Intersection

center path

Linear→Circular

Work-

piece

Intersection

Tool nose radius Programmed path

center path

Circular→Linear

Workpiece

Programmed path

Tool nose radius

Intersection

center path

Circular→Circular

Work-

Intersection

piece

Tool nose radius

Programmed path

center path

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- Tool movement around the inside (α<1°) with an abnormally long vector, linear →

linear

Intersection

Tool nose radius center path

Programmed path

Intersection

Also in case of arc to straight line, straight line to arc and arc to arc,

the reader should infer in the same procedure.

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- Tool movement around the outside corner at an obtuse angle (90°≤α<180°)

Linear→Linear

(Linear

connection type)

Workpiece

Programmed path

Intersection

Tool nose radius

center path

Linear→Circular

(Linear

connection type)

Work-

piece

S L

Intersection

Tool nose radius

Programmed path

center path

Circular→Linear

(Linear

connection type)

Workpiece

Programmed path

Intersection

Tool nose radius

center path

Circular→Circular

(Linear

connection type)

Programmed path

Work-

piece

Tool nose

radius center

path

Intersection

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

Linear→Linear

(Circular

connection type)

Workpiece

Programmed path

Tool nose radius

center path

Linear→Circular

(Circular

connection type)

Work-

piece

Tool nose radius

Programmed path

center path

Circular→Linear

(Circular

connection type)

Workpiece

Programmed path

Tool nose radius

center path

Circular→Circular

(Circular

connection type)

Programmed path

Work-

piece

Tool nose radius

center path

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- Tool movement around the outside corner at an acute angle (α<90°)

Linear→Linear

(Linear

connection type)

Workpiece

Programmed path

Tool nose radius

center path

Linear→Circular

(Linear

connection type)

Work-

piece

Programmed path

Tool nose radius

center path

Circular→Linear

(Linear

connection type)

Workpiece

Programmed path

Tool nose radius center path

Circular→Circular

(Linear

connection type)

Work-

piece

Tool nose radius center path Programmed path

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

Linear→Linear

(Circular

connection type)

Workpiece

Programmed path

Tool nose radius

center path

Linear→Circular

(Circular

connection type)

Work-

piece

Programmed path

Tool nose radius

center path

Circular→Linear

(Circular

connection type)

Workpiece

Programmed path

Tool nose radius center path

Circular→Circular

(Circular

connection type)

Work-

piece

Tool nose radius center path

Programmed path

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- When it is exceptional

End position for the arc is not on the arc

If the end of a line leading to an arc is not on the arc as illustrated

below, the system assumes that the tool nose radius compensation has

been executed with respect to an imaginary circle that has the same

center as the arc and passes the specified end position. Based on this

assumption, the system creates a vector and carries out compensation.

The same description applies to tool movement between two circular

paths.

Workpiece

End the arc

Imaginary circle

Programmed path

Tool nose radius

center path

Center of the arc

L S

There is no inner intersection

If the tool nose radius compensation value is sufficiently small, the

two circular tool center paths made after compensation intersect at a

position (P). Intersection P may not occur if an excessively large

value is specified for tool nose radius compensation. When this is

predicted, alarm PS0033 occurs at the end of the previous block and

the tool is stopped.

In the example shown below, tool center paths along arcs A and B

intersect at P when a sufficiently small value is specified for tool nose

radius compensation. If an excessively large value is specified, this

intersection does not occur.

Alarm occurs and the tool stops

When the tool nose radius

compensation value is large

When the tool nose radius

compensation value is small

Center of the arc B

Center of the arc A

Programmed path

Arc A

Arc B

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- When the center of the arc is identical with the start point or the end position

If the center of the arc is identical with the start point or end point,

alarm PS0041 is displayed, and the tool will stop at the start point of

the preceding block of the arc.

(G41)

N5 G01 W50.0 ;

Tool nose radius center path

N6 W50.0 ;

N7 G02 W100.0 I0 K0 ;

Alarm is displayed and the

N8 G01 U-100.0 ;

tool stops

Programmed path

- Change in the offset direction in the offset mode

The offset direction is decided by G codes (G41 and G42) for tool

nose radius compensation and the sign of the compensation value as

follows.

Sign of compensation

G code

G41

Left side offset

Right side offset

G42

Right side offset

Left side offset

The offset direction can be changed in the offset mode. If the offset

direction is changed in a block, a vector is generated at the

intersection of the tool nose radius center path of that block and the

tool nose radius center path of a preceding block.

However, the change is not available in the start-up block and the

block following it.

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- Tool nose radius center path with an intersection

Linear→Linear

Workpiece

G42

Intersection

Programmed path

G41

Workpiece

Tool nose radius center path

Linear→Circular

Workpiece

G41

G42

Programmed path

Workpiece

Intersection

Tool nose radius center path

Circular→Linear

Workpiece

G42

Programmed path

Tool nose radius center path

Intersection

G41

Workpiece

Circular→Circular

Workpiece

G42

Programmed path

G41

Tool nose radius center path

Workpiece

Intersection

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- Tool nose radius center path without an intersection

When changing the offset direction in block A to block B using G41

and G42, if intersection with the offset path is not required, the vector

normal to block B is created at the start point of block B.

Linear→Linear

Workpiece

Programmed path

G42

(G42)

G41

Workpiece

Tool nose radius

center path

G42

Programmed path

G41

Tool nose radius

center path

Linear→Circular

Intersection

Tool nose radius

center path

(G41)

G42

(G41)

Programmed path

Circular→Circular

An arc whose end position

is not on the arc

G41

(G42)

Programmed path

(G42)

Center

Tool nose radius

center path

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

The length of tool center path larger than the circumference of a circle

Normally there is almost no possibility of generating this situation.

However, when G41 and G42 are changed, or when a G40 was

commanded with address I, J, and K this situation can occur.

In this case of the figure, the cutter compensation is not performed

with more than one circle circumference: an arc is formed from P₁ to

P₂ as shown. Depending on the circumstances, an alarm may be

displayed due to the "Interference Check" described later.

execute a circle with more than one circumference, the circle must be

specified in segments.

Tool nose radius

center path

Programmed path

(G42)

N5 G01 U-700.0 W500.0 ;

N6 G41 G02 I-500.0 ;

N7 G42 G01 U700.0 W500.0 ;

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- Tool nose radius compensation G code in the offset mode

The offset vector can be set to form a right angle to the moving

direction in the previous block, irrespective of machining inner or

outer side, by commanding the tool nose radius compensation G code

(G41, G42) in the offset mode, independently. If this code is

specified in a circular command, correct circular motion will not be

obtained.

When the direction of offset is expected to be changed by the

command of tool nose radius compensation G code (G41, G42), see

"Change in the offset direction in the offset mode".

Linear→Linear

A block specified by G42

G42 mode

Intersection

Tool nose radius center path

Circular→Linear

A block specified by G42

G42 mode

Intersection

Programmed path

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- Command canceling the offset vector temporarily

During offset mode, if G50 (workpiece coordinate system setting) or

G52 (local coordinate system setting) is commanded, the offset vector

is temporarily cancelled and thereafter offset mode is automatically

restored.

In this case, without movement of offset cancel, the tool moves

directly from the intersecting point to the commanded point where

offset vector is canceled.

Also when restored to offset mode, the tool moves directly to the

intersecting point.

Tool nose radius

center path

Programmed path

G50 block

(G41)

N5 G01 U300.0 W700.0 ;

N6 U-300.0 W600.0 ;

N7 G50 X100.0 Z200.0 ;

N8 G01 X400.0 Z800.0 ;

Before specifying G28 (reference position return), G30 (second, third,

and fourth reference position returns), and G53 (machine coordinate

system selection) commands, cancel offset mode, using G40. If an

attempt is made to specify any of the commands in offset mode, the

offset vector temporarily disappears.

- Canned cycles (G90, G92, G94) and multiple repetitive canned cycles (G71 to G76)

See the cautions for the tool nose radius compensation related canned

cycles.

Tool nose radius

N6(G42)

center path

Programmed path

(G42)

N5 G01 U50.0 W-60.0 ;

N6 W-80.0 ;

N7 G90 U-60.0 W-80.0 R-30.0 ;

N8 G01 U120.0 W50.0 ;

N9 W50.0 ;

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- If I, J, and K are specified in a G00/G01 mode block

At the start of tool nose radius compensation or in that mode, by

specifying I, J, and K in a positioning mode

(G00) or linear

interpolation mode (G01) block, it is possible to set the compensation

vector at the end point of that block in the direction vertical to that

specified by I, J, and K. This makes it possible to change the

compensation direction intentionally.

IJ type vector (XY plane)

The following explains the compensation vector (IJ type vector) to be

created on the XY compensation plane (G17 mode).

(The same

explanation applies to the KI type vector on the G18 plane and the JK

type vector on the G19 plane.) As shown in the figure below, it is

assumed that the compensation vector (IJ type vector) is the vector

with a size equal to the compensation value and vertical to the

direction specified by I and J, without performing intersection

calculation on the programmed path. I and J can be specified both at

the start of tool nose radius compensation and in that mode. If they

are specified at the start of compensation, any start-up type set in the

appropriate parameter will be invalid, and an IJ type vector is

assumed.

Offset vector direction

In G41 mode, the direction specified by I, J, and K is assumed an

imaginary tool movement direction, and an offset vector is created

vertical to that direction and on the left side.

Compensation vector

I, J, K

In G42 mode, the direction specified by I, J, and K is assumed an

imaginary tool movement direction, and an offset vector is created

vertical to that direction and on the right side.

I, J, K

Compensation vector

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

Example

If I and J are specified at the start of compensation (with

tool movement)

N50

N40

(G40)

N30

N10 G41 U100.0 W100.0

N60

N20

K1 T0101 ;

N20 G04 X1000 ;

Tool nose radius

N30 G01 F1000 ;

N10

center path

N40 S300 ;

N50 M50 ;

Programmed path

N60 W150. ;

Note) In N10, a vector is specified with

a size of T1 in the direction

vertical to the Z axis, using K1.

If I and J are specified at the start of compensation

(without tool movement)

(G40)

N30

N10 G41 K1 T0101 ;

N20 U100.0 W100.0 ;

Tool nose radius

N30 W150.0 ;

center path

N20

Note) In N10, a vector is specified

Programmed path

with a size of T1 in the

direction vertical to the Z

N10

axis, using K1.

If I and J are specified at the start of compensation (with

tool movement)

(G17 G41 T0101)

N10 G00 U150.0 J50.0 ;

N20 G02 I50.0 ;

(I,J)

N30 G00 U-150.0 ;

<2>

Note) In N10, a vector is specified

N10

N20

with a size of T1 in the

N30

direction vertical to the Y axis,

<1>

using J50.

<2>

<1> IJ type vector

<2> Vector determined with

intersection calculation

Tool center path

Programmed path

Path determined with

intersection calculation

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

If I and J are specified in a block without tool movement in

compensation mode

Tool nose

N30

radius center

N40

S S

path

Start-up/cancel type C

N20

N50

N10 G41 T0101 G01 F1000 ;

(I, J)

N20 U100.0 W100.0 ;

Programmed path

N30 K10.0 ;

N40 W150.0 ;

N50 G40 ;

N10

Limitation

If an IJ type vector is specified, tool interference may occur due to that

vector alone, depending on the direction. If this occurs, no

interference alarm will occur, or no interference avoidance will be

performed. Overcutting may, therefore, result.

Overcutting

(I, J)

Start-up/cancel

Type C

N30

N40

Programmed

N10 G42 T0101 F1000 ;

N20

path

N20 W100.0;

N30 U100.0 W100.0 K10.0 ;

N50

N10

N40 U-100.0 W100.0 ;

N50 G40 ;

Tool nose radius

center path

- A block without tool movement

The following blocks have no tool movement. In these blocks, the

tool will not move even if cutter compensation is effected.

M05 ;

: M code output

S21 ;

: S code output

G04 X10.0 ;

: Dwell

G22 X100000 ;

: Machining area setting

G10 P01 X10 Z20 R10.0 ; : Tool nose radius compensation value

setting/changing

(G18) Y200.0 ;

: Move command not included in the offset plane.

G98 ;, O10 ;, N20 ;

: G, O, and N codes only

U0 ;

: Move distance is zero.

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- A block without tool movement specified in offset mode

Unless the number of blocks without movement consecutively

specified is more than N-2 blocks (where N is the number of blocks to

read in offset mode (parameter No. 19625)) in offset mode, the vector

and the tool nose radius center path will be as usual. This block is

executed at the single block stop point.

N6 U100.0 W100.0 ;

N7 G04 X10.0 ;

Programmed path

N8 W100.0 ;

Tool nose radius

center path

Block N7 is executed here.

For an axis command for which the move distance is zero, however, a

vector with a size equal to the compensation value will be created

vertical to the movement direction in the previous block, even if the

number of block is 1. Note that specifying such a command may

result in overcutting.

N6 U100.0 W100.0 ;

N7 U0 ;

Programed path

N8 W100.0 ;

Tool nose radius

center path

In offset mode, the number of blocks without movement consecutively

specified must not exceed N-2 (where N is the number of blocks to

read in offset mode

(parameter

(No. 19625)). If commanded, a

vector whose length is equal to the offset value is produced in a

normal direction to tool motion in earlier block, so overcutting may

result.

N6 U100.0 W100.0 ;

N7,N8

N7 S21 ;

Programmed path

N8 G04 X10.0 ;

N9 W100.0 ;

(No. of blocks to read in

offset mode = 3)

Tool nose radius

center path

SSS

L Blocks N7 and N8 are executed here.

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- If an M/G code that suppresses buffering is specified

If an M/G code that suppresses buffering is specified in offset mode, it

is no longer possible to read and analyze subsequent blocks regardless

of the number of blocks to read in offset mode, which is determined

by parameter

(No.

19625). Then, intersection calculation and a

interference check, described later, are no longer possible. If this

occurs, overcutting may occur because a vertical vector is output in

the immediately preceding block.

If an M code (M50) that suppresses buffering is not specified

(G42)

Programmed path

N5 G01 U40.0 W40.0 ;

N6 W40.0 ;

Tool nose radius

center path

Intersection

If an M code (M50) that suppresses buffering is specified

(G42)

Programmed path

N5 G01 U40.0 W40.0 ;

N6 M50 ;

N7 W40.0 ;

Tool nose radius

center path

Block N6 is executed here.

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

- Corner movement

When two or more offset vectors are produced at the end of a block,

the tool moves linearly from one vector to another. This movement

is called the corner movement.

If these vectors almost coincide with each other (the distance of corner

movement between the vectors is judged short due to the setting of

parameter (No. 5010)), corner movement is not performed. In this

case, the vector to the single block stop point takes precedence and

remains, while other vectors are ignored. This makes it possible to

ignore the very small movements arising from performing tool nose

radius compensation, thereby preventing velocity changes due to

interruption of buffering.

∆V_Z

This vector is ignored, if

∆V_Z≤ ∆V_limitand

∆V_X≤ ∆V_limit

∆V_X

The vector to the single block

stop point remains even if

∆V_Z ≤ ∆V_limit and ∆V_X ≤ V_limit.

Tool nose radius

center path

Programmed path

∆V_limit is determined with the setting of parameter (No. 5010).

If the vectors are not judged to almost coincide (therefore, are not

erased), movement to turn around the corner is performed. The

corner movement that precedes the single block stop point belongs to

the previous block, while the corner movement that succeeds the

single block stop point belongs to the latter block.

This move belongs to block N6, thus, the feedrate is equal

to that in block N6.

This move belongs to block N7, thus, the

feedrate is equal to that in block N7.

- 215 -

5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

However, if the path of the next block is semicircular or more, the

above function is not performed.

The reason for this is as follows:

(G17)

P₂ P₃ P₄ P5

N4 G41 G01 U150.0 V200.0 ;

N5 U150.0 V200.0 ;

N6 G02 J-600.0 ;

N7 G01 U150.0 V-200.0 ;

P₁

P₆

N8 G40 U150.0 V-200.0 ;

N₅ N₇

N₄

N₈

N₆

Programmed path

Tool center path

If the vector is not ignored, the tool path is as follows:

P₁ → P₂ → P₃ → (Circle) → P₄ → P₅ → P₆

But if the distance between P₂ and P₃ is negligible, the point P₃ is

ignored. Therefore, the tool path is as follows:

P₂ → P₄

Namely, circle cutting by the block N6 is ignored.

- Interruption of manual operation

For manual operation during the offset mode, see "Manual Absolute

ON and OFF."

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

5.3.4

Tool Movement in Offset Mode Cancel

Explanation

- If the cancel block is a block with tool movement, and the tool moves around the

inside (180° ≤ α)

Linear→Linear

Workpiece

Programmed path

G40

Tool nose radius

center path

Circular→Linear

Work-

piece

G40

Programmed path

Tool nose radius center path

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- If the cancel block is a block with tool movement, and the tool moves around the

outside at an obtuse angle (90° ≤ α < 180°)

The two types, A and B, are available. Set bit 0 (SUP) of parameter

No. 5003 to specify which type is to be used.

Linear→Linear

G40

Workpiece

Programmed path

Tool nose radius

center path

Type

Circular→Linear

G40

Work-

piece

Programmed path

Tool nose radius center path

Linear→Linear

(Linear

connection type)

G40

Workpiece

Programmed path

Tool nose radius

Intersection

center path

Type

Circular→Linear

(Linear

connection type)

G40

Work-

piece

Inter-

section

Programmed path

Tool nose radius center path

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5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

- If the cancel block is a block with tool movement, and the tool moves around the

outside at an acute angle (α<90°)

The two types, A and B, are available. Set bit 0 (SUP) of parameter

No. 5003 to specify which type is to be used.

Linear→Linear

G40

W orkpiece

Programmed path

G42

Tool nose radius

center path

Type

Circular→Linear

G40

W ork-

piece

G42

Tool nose radius

center path

Programmed path

Linear→Linear

(Linear

connection type)

W orkpiece

G40

Programmed path

Tool nose radius

Type

center path

Circular→Linear

(Linear

connection type)

W ork-

piece

Tool nose radius

center path

Programmed path

- 220 -

B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

Linear→Linear

(Circular

connection type)

Workpiece

G40

Programmed path

Tool nose radius

Type

center path

Circular→Linear

(Circular

connection type)

Work-

piece

Tool nose radius

center path

Programmed path

- If the cancel block is a block with tool movement, and the tool moves around the

outside at an acute angle of 1 degree or less in a linear → linear manner (α≤1°)

Tool nose radius center path

Programmed path

(G42)

1° or less

G40

- A block without tool movement specified together with offset cancel

For types A and B

In the block preceding the cancel block, a vector is created with a

size equal to the tool nose radius compensation value in the

vertical direction. The tool does not operate in the cancel block.

The remaining vectors are canceled with the next move

command.

N6 U100.0 W100.0 ;

N7 G40 ;

N8 U0 W130.0 ;

Programmed path

Tool nose radius

center path

- 221 -

5.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-1/01

For type C

The tool shifts by the compensation value in the direction vertical

to the block preceding the cancel block.

Programmed path

Tool nose radius

center path

G40 (without

movement)

- Block containing G40 and I_J_K_

The previous block contains G41 or G42

If a G41 or G42 block precedes a block in which G40 and I_, J_, K_

are specified, the system assumes that the path is programmed as a

path from the end position determined by the former block to a vector

determined by (I,J), (I,K), or (J,K). The direction of compensation in

the former block is inherited.

In the N1 block, the tool nose radius center moves

N1 (G42 mode) ;

towards P.

N2 G40 Xb Za I_ K_ ;

In the N2 block, the tool nose radius center moves

towards E.

E(a, b)

(I, K)

G40

Tool nose radius center path

(G42) Programmed path

Workpiece

In this case, note that the CNC obtains an intersection of the tool path

irrespective of whether inner or outer side machining is specified.

G40

Tool nose radius

center path

Programmed path

(G42)

(I, K)

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B-64304EN-1/01

PROGRAMMING

5.COMPENSATION FUNCTION

When an intersection is not obtainable, the tool comes to the normal

position to the previous block at the end of the previous block.

Tool nose radius

G40

center path

(G42) Programmed path

(I, K)

- Length of the tool center path larger than the circumference of a circle

In the example shown below, the tool does not trace the circle more

than once. It moves along the arc from P₁ to P₂. The interference

check function described below may raise an alarm.

To make the tool trace a circle more than once, program two or more

arcs.

P₁

Tool nose radius center path

P₂

Programmed path

(I, J)

(G17 G41)

N5 G01 U100.0 ;

N6 G02 J-60.0 ;

N7 G40 G01 U50.0 V50.0 I-10.0 J-10.0 ;

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FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. For Lathe System USER’S MANUAL - page 8