FANUC Series 0i-MODEL F. For Lathe System OPERATOR'S MANUAL (B-64604EN-1/01)

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If the cutter or tool nose radius compensation value is greater than the radius of the specified arc as shown
in the Fig. 5.4.6.3 (c), and a command is specified which results in compensation with respect to the
inside of the arc, interference is avoided by performing intersection calculation with an arc command
being assumed a linear one. In this case, avoided vectors are connected with linear interpolation.

Programmed path

Post-compensation path

Fig. 5.4.6.3 (c)

If no interference avoidance vector exists

If the parallel pocket shown in the Fig. 5.4.6.3 (d) is to be machined, the end-point vector of block 1 and
the end-point vector of block 2 are judged to interfere, and an attempt is made to calculate, as an
interference avoidance vector, the intersection vector of the post-compensation path of block 1 and the
post-compensation path of block 3. In this case, because blocks 1 and 3 are parallel to each other, no
intersection exists. In this case, an alarm will occur immediately before block 1 and the tool will stop.

Block

Programmed path

Tool center path

Stopped

Fig. 5.4.6.3 (d)

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If the circular pocket shown in the Fig. 5.4.6.3 (e) is to be machined, the end-point vector of block 1 and
the end-point vector of block 2 are judged to interfere, and an attempt is made to calculate, as an
interference avoidance vector, the intersection vector of the post-compensation path of block 1 and the
post-compensation path of block 3.
In this case, because blocks 1 and 3 are circular, no post-compensation intersection exists. In this case, an
alarm will occur immediately before block 1 and the tool will stop, as in the previous example.

Programmed path

Tool center path

Block

Stopped

Fig. 5.4.6.3 (e)

If it is judged dangerous to avoid interference

If the acute-angle pocket shown in the Fig. 5.4.6.3 (f) is to be machined, the end-point vector of block 1
and the end-point vector of block 2 are judged to interfere, and an attempt is made to calculate, as an
interference avoidance vector, the intersection vector of the post-compensation path of block 1 and the
post-compensation path of block 3. In this case, the movement direction of the post-avoidance path
extremely differs from the previously specified direction. If the post-avoidance path extremely differs
from that of the original command (90

or greater or 270

or less), interference avoidance operation is

judged dangerous; an alarm will occur immediately before block 1 and the tool will stop.

Tool center path

Programmed path

Block

Stopped

Post-compensation intersection of
blocks

and

Fig. 5.4.6.3 (f)

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If a pocket in which the bottom is wider than the top, such as that shown in the Fig. 5.4.6.3 (g), is to be
machined, the end-point vector of block 1 and the end-point vector of block 2 are judged to interfere, and
an attempt is made to calculate, as an interference avoidance vector, the intersection vector of the
post-compensation path of block 1 and the post-compensation path of block 3. In this case, the relation
between blocks 1 and 3 is judged an outer one, the post-avoidance path results in overcutting as compared
with the original command. In such a case, interference avoidance operation is judge dangerous; an alarm
will occur immediately before block 1 and the tool will stop.

Tool center path

Programmed path

Post-compensation intersection
of blocks

and

Block

Stopped

Fig. 5.4.6.3 (g)

If further interference with an interference avoidance vector occurs

If the pocket shown in the Fig. 5.4.6.3 (h) is to be machined, if the number of blocks to read is 3, the
end-point vector of block 1 and the end-point vector of block 2 are judged to interfere, and an attempt is
made to calculate, as an interference avoidance vector, the intersection vector of the post-compensation
path of block 1 and the post-compensation path of block 3. In this case, however, the end-point vector of
block 3 that is to be calculated next further interferes with the previous interference avoidance vector. If a
further interference occurs to the interference avoidance vector once created and output, the movement in
the block will not be performed; an alarm will occur immediately before the block and the tool will stop.

Tool center path

Programmed path

Block

The intersection vectors of
blocks

and

further interfere.

Stopped

Block

Fig. 5.4.6.3 (h)

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NOTE

1 For "If it is judged dangerous to avoid interference" and "If further interference

with an interference avoidance vector occurs", by setting bit 6 (NAA) of
parameter No. 19607 appropriately, it is possible to suppress an alarm to
continue machining. For "If no interference avoidance vector exists", however, it
is not possible to avoid an alarm regardless of the setting of this parameter.

2 If a single block stop occurs during interference avoidance operation, and an

operation is performed which differs from the original movement, such as
manual intervention, MDI intervention, cutter or tool nose radius compensation
value change, intersection calculation is performed with a new path. If such an
operation is performed, therefore, an interference may occur again although
interference avoidance has been performed once.

5.4.7

Cutter or Tool Nose Radius Compensation for Input from MDI

Explanation

- MDI operation

During MDI operation, that is, if a program command is specified in MDI mode in the reset state to make
a cycle start, intersection calculation is performed for compensation in the same way as in memory
operation/DNC operation. Compensation is performed in the same way if a subprogram is called from
program memory due to MDI operation.

Subprogram in program memory

O9000 ;
N1 G41 G17 G01 U10.0 V10.0
T0101 ;
N2 V15.0 ;
N3 U15.0 ;
N4 V-15.0 ;
N5 U-15.0 ;
N6 G40 U-10.0 V-10.0 ;
M99 ;

MDI command

G00 X0 Y0 ;
M98 P9000 ;
M02 ;

Fig. 5.4.7 (a)

- MDI intervention

If MDI intervention is performed, that is, if a single block stop is performed to enter the automatic
operation stop state in the middle of memory operation, DNC operation, and the like, and a program
command is specified in MDI mode to make a cycle start, cutter compensation does not perform
intersection calculation, retaining the last compensation vector before the intervention.

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MDI intervention

W30.0 ;
U20.0 W20.0 ;
U-20.0 W20.0 ;

MEM mode

(G41)
N2 U30.0 W10.0 ;
N3 U-30.0 W10.0 ;
N4 W40.0 ;

N2 N3

Program command

Last compensation vector

Retained compensation vector

Fig. 5.4.7 (b)

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5.5

VECTOR RETENTION (G38)

In cutter or tool nose radius compensation, by specifying G38 in offset mode, it is possible to retain the
compensation vector at the end position of the previous block, without performing intersection
calculation.

Format

(In offset mode)

G38

_ ;

:Value specified for axial movement

Explanation

- Vector retention

By specifying the above command, a vector is created at the end point of the block immediately
preceding the G38 block, vertical to that block. In the G38 block, the vertical vector output in the
previous block is retained. G38 is a one-shot G code. With the next move command without a G38
command, the compensation vector is re-created.

Limitation

- Mode

Specify G38 in either G00 or G01 mode. If it is specified in G02 or G03 (circular interpolation) mode, a
radial error may occur at the start and end points.

- Start-up/cancel

In start-up/cancel, the operation is as described in Subsections 5.4.2 and 5.4.4. Thus, G38 cannot be
specified in the following blocks:
1)

Start-up command (G41 or G42) block

Cancel command (G40) block

Block immediately preceding the cancel command (G40) block

Example

X axis

Z axis

(10.0, 0.0)

(15.0, 5.0)

Block N1

Offset vector

Block N2

Block N3

Program command

Tool nose radius
center path

(In offset mode)

N1 G38 X0.0 Z10.0 ;
N2 G38 X5.0 Z15.0 ;
N3 G38 X0.0 Z10.0 ;
N4          Z20.0 ;
                :
                :

Fig. 5.5 (a)

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5.6

CORNER CIRCULAR INTERPOLATION (G39)

By specifying G39 in offset mode during cutter or tool nose radius compensation, corner circular
interpolation can be performed. The radius of the corner circular interpolation equals the compensation
value.

Format

In offset mode

G39 ;

I_J_

G39 I_K_ ;

J_K_

Explanation

Corner circular interpolation

When the command indicated above is specified, corner circular interpolation in which the radius equals
compensation value can be performed. G41 or G42 preceding the command determines whether the arc is
clockwise or counterclockwise. G39 is a one-shot G code.

G39 without I, J, or K

When G39; is programmed, the arc at the corner is formed so that the vector at the end point of the arc is
perpendicular to the start point of the next block.

G39 with I, J, and K

When G39 is specified with I, J, and K, the arc at the corner is formed so that the vector at the end point
of the arc is perpendicular to the vector defined by the I, J, and K values.

Limitation

- Move command

In a block containing G39, no move command can be specified. Otherwise, an alarm will occur.

- Inner corner

In an inner corner block, G39 cannot be specified. Otherwise, overcutting will occur.

Corner arc velocity

If a corner arc is specified with G39 in G00 mode, the corner arc block velocity will be that of the F
command previously specified.

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Example

G39 without I, J, or K

:
: (In offset mode)

N1 Z10.0 ;
N2 G39 ;
N3 X-10.0 ;

:
:

X axis

Z axis

(10.0, 0.0)

(10.0, -10.0)

Block N1

Offset vector

Block N2 (Corner arc)

Block N3

Programmed path

Tool nose radius
center path

Fig. 5.6 (a)

G39 with I, J, and K

:
: (In offset mode)

N1 Z10.0 ;
N2 G39 I-1.0 K2.0 ;
N3 X-10.0 Z20.0 ;

:
:

X axis

Z axis

Block N1

Offset vector

Block N2 (Corner arc)

Block N3

Tool nose radius
center path

(I=-1.0, K=2.0)

(20.0, -10.0)

Programmed
path

(10.0, 0.0)

Fig. 5.6 (b)

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5.7

EXTENDED TOOL SELECTION

Overview

In lathe system machines, tools are changed mainly with the following two methods:

(1) With a turret holding multiple tools, tools are changed by turning the turret (T command).
(2) With an automatic tool changer (ATC), tools are changed by using both cartridge indexing (T

command) and tool change (such as M06) commands.

To support the tool change method explained in (2) above, the following tool selection specifications
apply to this function:
<1> Tool compensation by a T command is disabled. This means that the T command performs auxiliary

functions only.

<2> Tool compensation is enabled by using a G code instead of the T command. In this case, the

following types of tool compensation are enabled:

•

Tool offset (compensation equivalent to that of a T command in the case of turret rotation type)

Format

M06 T_ ;

Change tool

Gxx D_ ;

Tool compensation start

G49 ;

Tool compensation cancel

Gxx

: Type of tool compensation

G43.7 :

Tool

offset

: Tool compensation number

Explanation

Selecting a tool change method

Bit 3 (TCT) of parameter No. 5040 selects a tool change method.
This changes the way for specifying tool compensation.
This parameter setting has influence on the following range (Table 5.7 (a)):

Table 5.7 (a)

Bit 3 (TCT) of parameter No. 5040 =

0 (Turret type)

Bit 3 (TCT) of parameter No. 5040 =

1 (ATC type)

Operation of T command

Auxiliary function (tool change) and tool

offset

Auxiliary function (tool indexing) only

Tool compensation

Specified with T code

Specified with G43.7 D_

Compensation No. of tool

compensation

Specified with T code

Specified with D code

Compensation No. of tool nose

radius compensation

Specified with T code

Specified with D code

Command such as G43

Disabled (alarm)

Enabled

Compensation No. of G43, etc.

Specified with D code

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T command operation

(1) When bit 3 (TCT) of parameter No.5040 is 0

The T command performs an auxiliary function and tool offset.
The code signal issued to the machine is the T command value except the last 1 to 3 digits.
For example, suppose that the following command is issued when 2 is set in parameter No. 5028 (the
number of digits comprising the offset number in the T code command):
T0313

;

The T code signal sent to the machine indicates 03.
The tool compensation number, indicated by the lowest 2 digits, is 13.

(2) When bit 3 (TCT) of parameter No. 5040 is 1

The T command performs an auxiliary function only.
In this case, the code signal issued to the machine is the T command value.
For example, suppose that the following is specified:
T0313

;

The T code signal issued to the machine is 0313. The T code signal is not affected by the setting of
parameter No. 5028 (the number of digits comprising the offset number in the T code command).
The tool compensation number is not affected by this command.

- Tool offset

(1) When bit 3 (TCT) of parameter No.5040 is 0

The T command performs tool offset.

(2) When bit 3 (TCT) of parameter No.5040 is 1

The T command does not perform tool offset.
To provide tool offset, specify G43.7 D_.
Tool offset is performed in the same way as with the T command when bit 3 of parameter No. 5040
is 0.

Compensation number of tool offset

(1) When bit 3 (TCT) of parameter No.5040 is 0

The lowest 1 to 3 digits of the T command are used. The number of digits is set in parameter No.
5028.
When the tool geometry/wear offset is enabled (bit 6 (NGW) of parameter No.8136 is 0), tool
geometry offset and wear offset may also be assigned different compensation values by setting bit 1
(LGN) of parameter No. 5002.
For details, refer to the description of the tool selection function in the Operator's Manual (Common
to Lath System/Machining Center System).

(2) When bit 3 (TCT) of parameter No.5040 is 1

Except that a compensation number is specified with a D command, the same operation as (1) above
is performed.

Compensation number of tool nose radius compensation

Same as for tool offset described above.

Specification of G43, etc.

(1) When bit 3 (TCT) of parameter No.5040 is 0

G codes of group 23 such as G43 cannot be specified.
Specifying such a G code results in an alarm PS0366.

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(2) When bit 3 (TCT) of parameter No.5040 is 1

G codes of group 23 such as G43 can be specified. The following G codes can be specified:
G43.7: Tool

offset

Specify a compensation number with D_. The D code is specified in the same way as for tool offset
and tool nose radius compensation.

The reverse meanings can be set for G43/G44 and G43.7 by setting bit 4 (TLG) of parameter No.
5040.

Tool compensation memory

As the compensation amount used by the functions listed below, only the value set in Z on the tool
compensation memory screen is used, Values such as values set for the X, R, and Y-axis offsets are
ignored.
As the compensation amount used in the following function, the values set for the X, Z, and Y-axis
offsets on the tool compensation memory screen are used:
G43.7: Tool offset

Limitation

Multiple repetitive canned cycle

When a multiple repetitive canned cycle is executed with bit 3 (TCT) of parameter No. 5040 set to 1, note
the following:

CAUTION

1 When a G71 to G76 command is specified in the Series 10/11 program format, a

value such as the depth of cut is specified with a D code. In this case, a D
command specified after G71 to G76 is assumed to be the depth of cut. For
example, suppose that the command shown below is specified. In this case, the
D command <1> is assumed to be the tool compensation number, and the D
command <2> is assumed to be the depth of cut.
Example:
D10 G71 P_Q_ U_ W_ D7000 F_ S_;
<1> <2>

2 In the operation of G71 to G73, a G code such as G43 and a D command

specified in the finish figure blocks (the portion enclosed by the sequence
numbers specified with P_ and Q_) are ignored, and the compensation amount
set when the G71 to G73 block is specified becomes valid.

Modifying the setting of bit 3 (TCT) of parameter No. 5040

WARNING

Before modifying the setting of this parameter, ensure that the offset is canceled.
If the setting is modified with the offset applied, offset operation may be
performed incorrectly after that, or alarm PS0368 may be issued.

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5.8

AUTOMATIC TOOL OFFSET (G36, G37)

When a tool is moved to the measurement position by execution of a command given to the CNC, the
CNC automatically measures the difference between the current coordinate value and the coordinate
value of the command measurement position and uses it as the offset value for the tool. When the tool has
been already offset, it is moved to the measurement position with that offset value. If the CNC judges that
further offset is needed after calculating the difference between the coordinate values of the measurement
position and the commanded coordinate values, the current offset value is further offset.
Refer to the instruction manuals of the machine tool builder for details.

NOTE

When bit 7 (IGA) of parameter No.6240 is 0, this function can be used.

Format

Txx ;

Specifies an offset number for

tool position compensation.

G36 X_ ; or G37 Z_ ;

Automatic tool offset. Absolute programming.
G36 and G37 are valid only in the block in which it is specified.

Explanation

- Coordinate system

When moving the tool to a position for measurement, the coordinate system must be set in advance. (The
workpiece coordinate system for programming is used in common.)

Movement to measurement position

A movement to a measurement position is performed by specifying as follows in the MDI, or MEM
mode :
G36 Xxa ; or G37 Zza ;
(In the case of setting bit 3 (G36) of parameter No.3405 to 1, G37.1 Xxa ; or G37.2 Zza ;)
In this case, the measurement position should be xa or za (absolute programming).
Execution of this command moves the tool at the rapid traverse rate toward the measurement position,
lowers the feedrate halfway, then continues to move it until the approach end signal from the measuring
instrument is issued.
When the tool tip reaches the measurement position, the measuring instrument outputs the measurement
position reach signal to the CNC which stops the tool.

- Offset

The current tool offset value is further offset by the difference between the coordinate value (

)

when the tool has reached the measurement position and the value of xa or za specified in G36Xxa or
G37Zza.
Offset value x = Current offset value x+(

-xa)

Offset value z = Current offset value z+(

-za)

xa : Programmed X-axis measurement point
za : Programmed Z-axis measurement point
These offset values can also be altered from the MDI keyboard.

Feedrate toward the measurement position and alarm

The tool, when moving from the stating position toward the measurement position predicted by xa or za
in G36 or G37, is feed at the rapid traverse rate across area A. Then the tool stops at point T (xa-

or za-

)

and moves at the measurement feedrate set by parameter No. 6241 across areas B, C, and D. If the

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approach end signal turns on during movement across area B, alarm is generated. If the approach end
signal does not turn on before point V, and tool stops at point V and alarm PS0080 is generated.

Starting
position

Predicted measurement position

S (xs, zs)

X, Z

|xa-xs|. |za-zs|

U (xa, za)

FR : Rapid traverse rate
FP : Measurement feedrate (set by parameter(No.6241))

: Parameters No.6251, No.6252

: Parameters No.6254, No.6255

Fig. 5.8 (a) Feedrate and alarm

- G code

If bit 3 (G36) of parameter No. 3405 has been set to 1, G37.1 and G37.2 are used as the G codes for
automatic tool compensation for the X- and Z-axes, respectively.

Example

800

100

380

300

Programmed zero point

Z-axis measurement position

X-axis
measurement
position

Tool number T01

Offset value

(Before measurement)

(After measurement)

X 100.0

98.0

Z 0 4.0

Fig. 5.8 (b)

G50 X760.0 Z1100.0 ; Programming of absolute zero point (Coordinate system setting)
S01 M03 T0101 ;

Specifies tool T1, offset number 1, and spindle revolution

G36 X200.0 ;

Moves to the X-axis measurement position

If the tool has reached the measurement position at X198.0 since the correct
measurement position is 200.0mm, the offset value is altered by
198.0-200.0=-2.0mm.

G00 X204.0 ;

Retracts a little along the X axis.

G37 Z800.0 ;

Moves to the Z-axis measurement position.

If the tool has reached the measurement position at Z804.0 since the correct
measurement position is 800.0mm, the offset value is altered by
804.0-800.0=4.0mm.

T0101 ;

The new offset value becomes valid when the T code is specified again.

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WARNING

1 Measurement

speed(Fp),

, and

are set as parameters (Fp : No.6241,

No.6251,

: No.6254) by machine tool builder.

must be positive numbers so

that

2 Cancel the tool nose radius compensation before G36, G37.
3 A delay or variation in detection of the measurement position arrival signal is 0 to

2 msec on the CNC side excluding the PMC side. Therefore, the measurement
error is the sum of 2 msec and a delay or variation (including a delay or variation
on the receiver side) in propagation of the measurement position arrival signal
on the PMC side, multiplied by the feedrate set in parameter No. 6241.

4 A delay or variation in time after detection of the measurement position arrival

signal until a feed stops is 0 to 8 msec. To calculate the amount of overrun,
further consider a delay in acceleration/deceleration, servo delay, and delay on
the PMC side.

5 When a manual movement is inserted into a movement at a measurement

feedrate, return the tool to the position before the inserted manual movement for
restart.

6 When tool nose radius compensation is enabled (bit 7 (NCR) of parameter No.

8136 is set to 0), the tool offset amount is determined considering the value of
tool nose R. Make sure that tool nose radius value is set correctly.

(Condition under which the tool-nose radius compensation is considered)
For the X-axis (first axis of the basic three axes) : TIP=0/5/7
For the Z-axis (third axis of the basic three axes) : TIP=0/6/8
For the Y-axis (second axis of the basic three axes) : TIP=0

ual
m
o

ent

ov
em
en
t c

onsi

deri

ng t

ool

nos

e radi

us
v

Tool nose
radius
value

Measurement
position

The tool actually moves from point A to point B, but the tool offset value is
determined assuming that the tool moves to point C considering the tool nose
radius value.

NOTE

1 When there is no T code command before G36 or G37, alarm PS0081, “G37

OFFSET NO. UNASSIGNED” is generated.

2 When a T code is specified in the same block as G36 or G37, alarm PS0082,

“G37 SPECIFIED WITH T CODE” is generated.

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6.MEMORY OPERATION

USING Series 10/11 FORMAT

MEMORY OPERATION USING Series 10/11
FORMAT

By setting the setting-related parameter (bit 1 of parameter No. 0001), a program created in the Series
10/11 program format can be registered in memory for memory operation. Registration to memory and
memory operation are possible for the functions which use the same program format as that for the Series
10/11 as well as for the following functions which use a different program format:

•

Subprogram

calling

•

Canned

cycle

•

Multiple repetitive canned cycle

•

Canned cycle for drilling

This function is optional.

NOTE

1 Registration to memory and memory operation are possible only for the

functions available in Series 0

2 Do not change the setting of this parameter (bit 1 (FCV) of parameter No. 0001)

during memory operation. Change the setting of this parameter in the reset
state.

Chapter 6, "MEMORY OPERATION USING Series 10/11 FORMAT", consists of the following
sections:

6.1 ADDRESSES AND SPECIFIED RANGE FOR SERIES 10/11 PROGRAM FORMAT ...............231
6.2 SUBPROGRAM CALLING.............................................................................................................231
6.3 CANNED

CYCLE ............................................................................................................................232

6.4 MULTIPLE REPETITIVE CANNED CYCLE................................................................................249
6.5 CANNED CYCLE FOR DRILLING ...............................................................................................283

6.1

ADDRESSES AND SPECIFIED RANGE FOR Series 10/11
PROGRAM FORMAT

Some addresses wh

ch cannot be used for the Series 0

can be used

n the Ser

es 10/11 program format.

The spec

able value range for the Ser

es 10/11 program format

s bas

cally the same as that for the

Series 0

The addresses with a different specifiable value range are described as follows. If a value out of

the spec

ed range

s spec

ed, an alarm

ssued.

6.2

SUBPROGRAM CALLING

Format

M98 Pxxxx Lyyyy ;

P : Subprogram number
L : Repetition

count

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6. MEMORY OPERATION

USING Series 10/11 FORMAT

Explanation

- Address

Address L cannot be used

n Series 0

program format but can be used

n the Ser

es 10/11 format.

(When the custom macro is enabled (bit 6(NCV) of parameter No. 8135 is 0), address L can be used
regardless of whether the format

s Ser

es 10/11 or not, however.)

- Subprogram number

The spec

able value range

s the same as that for Series 0

(1 to 9999).

If a value of more than f

ve d

s spec

ed, the last four d

ts are assumed as the subprogram number.

- Repetition count

The repetition count L can be specified in the range from 1 to 9999. If no repetition count is specified, 1
is assumed.

6.3

CANNED CYCLE

Explanation

There are three canned cycles: the outer diameter/internal diameter cutting canned cycle (G90), the
threading canned cycle (G92), and the end face turning canned cycle (G94).

NOTE

1 Explanatory figures in this section use the ZX plane as the selected plane,

diameter programming for the X-axis, and radius programming for the Z-axis.
When radius programming is used for the X-axis, change U/2 to U and X/2 to X.

2 A canned cycle can be performed on any plane (including parallel axes for plane

definition). When G code system A is used, however, U, V, and W cannot be set
as a parallel axis.

3 The direction of the length means the direction of the first axis on the plane as

follows:

ZX plane: Z-axis direction

YZ plane: Y-axis direction

XY plane: X-axis direction

4 The direction of the end face means the direction of the second axis on the

plane as follows:

ZX plane: X-axis direction

YZ plane: Z-axis direction

XY plane: Y-axis direction

FANUC Series 0i-MODEL F. For Lathe System OPERATOR'S MANUAL (B-64604EN-1/01) - page 15