Content      ..     7      8      9      10     ..

FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. For Machining Center System USER’S MANUAL - page 9

B-64304EN-2/01

PROGRAMMING

6.COMPENSATION FUNCTION

Y

Move position

: X-2.929,Y17.071

Specified position

: X10,Y14.142

Coordinates before

Tool path

●

45°

coordinate system rotation is

specified

: X10,Y10

X

When parameter AX1 (No. 11600#5) = 1:

With the specification of (1), coordinates (X10,Y10) before

coordinate system rotation are converted to coordinates

(X'14.142,Y'0) in the coordinate system (X'Y') obtained by

45° rotation. Next, a movement is made to the specified

position

(X'14.142,Y'14.142), that is, the move position

(X0,Y20).

Specified position

: X'14.142,Y'14.142

Y

Move position

: X0,Y20

X'

Tool path

Coordinates before coordinate

system rotation is specified

Y'

: X10,Y10

●

Conversion

Coordinates in rotated coordinate

system

: X'14.142,Y'0

45°

X

- 227 -

6.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-2/01

Explanation

- Absolute/Incremental position commands

N1 G92 X-500.0 Y-500.0 G69 G17 ;

N2 G68 X700.0 Y300.0 R60.0 ;

N3 G90 G01 X0 Y0 F200 ;

(G91X500.0Y500.0)

N4 G91 X1000.0 ;

N5 G02 Y1000.0 R1000.0 ;

N6 G03 X-1000.0 I-500.0 J-500.0 ;

N7 G01 Y-1000.0 ;

N8 G69 G90 X-500.0 Y-500.0 M02 ;

Tool path when the incremental

command is designated in the N3

block (in parenthesis)

Originally programmed tool path

Center of rotation

(700.0,300.0)

(0,0)

60º

(-500.0,-500.0)

Tool path after rotation

Fig. 6.10 (c) Absolute/incremental programming during coordinate

system rotation

- Cutter compensation and coordinate system rotation

It is possible to specify G68 and G69 in cutter compensation mode.

The rotation plane must coincide with the plane of cutter compensation.

N1 G92 X0 Y0 G69 G01 ;

N2 G42 G90 X1000 Y1000 F1000 D01 ;

N3 G68 R-30000 ;

N4 G91 X2000 ;

N5 G03 Y1000 R1000 J500 ;

N6 G01 X-2000 ;

N7 Y-1000 ;

N8 G69 G40 G90 X0 Y0 M30 ;

Programmed shape before

coordinate system rotation

Programmed shape

after coordinate

system rotation

3

(0, 0)

Tool path

Fig. 6.10 (d) Cutter compensation and coordinate system rotation

- 228 -

B-64304EN-2/01

PROGRAMMING

6.COMPENSATION FUNCTION

- Scaling and coordinate system rotation

If a coordinate system rotation command is executed in the scaling

mode (G51 mode), the coordinate value (a, b) of the rotation center

will also be scaled, but not the rotation angle (R). When a move

command is issued, the scaling is applied first and then the

coordinates are rotated.

A coordinate system rotation command (G68) should not be issued in

cutter compensation mode (G41, G42) on scaling mode (G51). The

coordinate system rotation command should always be specified prior

to setting the cutter compensation mode.

1.

When the system is not in cutter compensation mode, specify the

commands in the following order :

G51 ;

Scaling mode start

G68 ;

Coordinate system rotation mode start

:

G69 ;

Coordinate system rotation mode cancel

G50 ;

Scaling mode cancel

2.

When the system is in cutter compensation, specify the

commands in the following order (Fig.6.10(e)) :

(cutter compensation cancel)

G51 ;

Scaling mode start

G68 ;

Coordinate system rotation start

:

G41 ;

Cutter compensation mode start

:

G92 X0 Y0 ;

G51 X300.0 Y150.0 P500 ;

G68 X200.0 Y100.0 R45.0 ;

G01 X400.0 Y100.0 ;

Y100.0 ;

X-200.0 ;

Y-100.0 ;

X200.0 ;

When scaling and coordinate

system rotation are applied

When only coordinate system

Y

rotation is applied

When only scaling is

applied

200.0

Cutting program

100.0

X

0

200.0

400.0

Fig. 6.10 (e) Scaling and coordinate system rotation in cutter

compensation mode

- 229 -

6.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-2/01

- Repetitive commands for coordinate system rotation

It is possible to store one program as a subprogram and recall

subprogram by changing the angle.

Sample program for when parameter RIN (No. 5400#0) is set to 1.

The specified angular displancement is treated as an absolute or

incremental value depending on the specified G code (G90 or G91).

G92 X0 Y0 G69 G17;

G01 F200 H01 ;

M98 P2100 ;

M98 P072200 ;

G00 G90 X0 Y0 M30 ;

O 2200 G68 X0 Y0 G91 R45.0 ;

G90 M98 P2100 ;

M99 ;

O 2100 G90 G01 G42 X0 Y-10.0 ;

X4.142 ;

X7.071 Y-7.071 ;

G40 ;

M99 ;

Programmed path

(0, 0)

When offset is

applied

(0, -10.0)

Subprogram

Fig. 6.10 (f) Coordinate system rotation command

- 230 -

B-64304EN-2/01

PROGRAMMING

6.COMPENSATION FUNCTION

6.11 NORMAL DIRECTION CONTROL (G40.1,G41.1,G42.1)

Overview

When a tool with a rotation axis (C-axis) is moved in the XY plane

during cutting, the normal direction control function can control the

tool so that the C-axis is always perpendicular to the tool path (Fig.

6.11 (a)).

Programmed tool path

C-axis

C-axis

Tool

Tool

Normal direction (in

which the tool moves)

Fig. 6.11 (a) Sample Movement of the tool

Format

G41.1 ; Normal direction control, left

G42.1 ; Normal direction control, right

G40.1 ; Cancel normal direction control

The normal direction control, left (G41.1) command is

used when the workpiece is on the right side of the tool as

viewed while you are looking into the tool’s way.

Once either G41.1 or G42.1 is issued, normal direction

control is enabled (normal direction control mode).

Issuing G40.1 cancels the normal direction control mode.

- 231 -

6.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-2/01

Tool center path

Tool center path

Programmed tool path

Center of the arc

Programmed tool path

Fig. 6.11 (b) Normal direction control, left (G41.1) Fig. 6.11 (c) Normal direction control, right (G42.1)

Explanation

- Angle of the C axis

When viewed from the center of rotation around the C-axis, the

angular displacement about the C-axis is determined as shown in Fig.

6.11 (d). The positive side of the X-axis is assumed to be 0, the

positive side of the Y-axis is 90°, the negative side of the X-axis is

180°, and the negative side of the Y-axis is 270°.

+Y

90°

+X

180°

0°

Center of rotation

270°

Fig. 6.11 (d) Angle of the C axis

- Normal direction control of the C axis

When the cancel mode is switched to the normal direction control

mode, the C-axis becomes perpendicular to the tool path at the

beginning of the block containing G41.1 or G42.1.

In the interface between blocks in the normal direction control mode,

a command to move the tool is automatically inserted so that the

C-axis becomes perpendicular to the tool path at the beginning of each

block. The tool is first oriented so that the C-axis becomes

perpendicular to the tool path specified by the move command, then it

is moved along the X- and Y axes.

In the cutter compensation mode, the tool is oriented so that the C-axis

becomes perpendicular to the tool path created after compensation.

- 232 -

B-64304EN-2/01

PROGRAMMING

6.COMPENSATION FUNCTION

In single-block operation, the tool is not stopped between a command

for rotation of the tool and a command for movement along the X- and

Y-axes. A single-block stop always occurs after the tool is moved

along the X- and Y-axes.

Tool center path

S

S

N1

S : Single block stop point

Programmed tool path

N2

S

S

N3

S

Fig. 6.11 (e) Point at which a single-block stop occurs in the normal

direction control mode

Before circular interpolation is started, the C-axis is rotated so that the

C-axis becomes normal to the arc at the start point. During circular

interpolation, the tool is controlled so that the C-axis is always

perpendicular to the tool path determined by circular interpolation.

The tool is controlled so that the C-axis

A rotation command is inserted so

is always normal to the tool path

that the C-axis becomes normal to

determined by circular interpolation.

the arc at the start point.

Tool center path

Center of the arc

Programmed tool path

Fig. 6.11 (f) Normal direction control of the circular interpolation

NOTE

During normal direction control, the C axis always

rotates through an angle less than 180 deg. I.e., it

rotates in whichever direction provides the shorter

route.

- 233 -

B-64304EN-2/01

PROGRAMMING

6.COMPENSATION FUNCTION

- Movement for which arc insertion is ignored

Specify the maximum distance for which machining is performed with

the same normal direction as that of the preceding block.

•

Linear movement

When distance N2, shown below, is smaller than the set value,

machining for block N2 is performed using the same direction as

that for block N1.

Tool center path

N2

N3

N1

Distance

Programmed tool path

•

Circular movement

When the diameter of block N2, shown below, is smaller than the

set value, machining for block N2 is performed using the same

normal direction as that for block N1. And control as

compensation along the circular arc is not performed.

Tool center path

N2

N3

Diameter

Programmed tool path

N1

NOTE

1 Do not specify any command to the C axis during

normal direction control. Any command specified at

this time is ignored.

2 Before processing starts, it is necessary to

correlate the workpiece coordinate of the C axis

with the actual position of the C axis on the

machine using the coordinate system setting (G92)

or the like.

3 The helical cutting option is required to use this

function. Helical cutting cannot be specified in the

normal direction control mode.

4 Normal direction control cannot be performed by

the G53 move command.

5 The C-axis must be a rotation axis.

- 235 -

6.COMPENSATION FUNCTION

PROGRAMMING

B-64304EN-2/01

6.12 PROGRAMMABLE MIRROR IMAGE (G50.1, G51.1)

A mirror image of a programmed command can be produced with

respect to a programmed axis of symmetry (Fig. 15.3 (a)).

Y

Axis of symmetry (X=50)

(2)

(1)

100

60

Axis of symmetry

50

(Y=50)

40

0

(3)

(4)

0

40

50

60

100

X

(1) Original image of a programmed command

(2) Image symmetrical about a line parallel to the Y-axis and crossing the

X-axis at 50

(3) Image symmetrical about point (50, 50)

(4) Image symmetrical about a line parallel to the X-axis and crossing the

Y-axis at 50

Fig. 6.12 (a) Programmable mirror image

Format

G51.1 IP_ ; Setting a programmable image

:

A mirror image of a command specified in

:

these blocks is produced with respect to

:

the axis of symmetry specified by G51.1

:

IP_;.

G50.1 IP_ ; Canceling a programmable mirror image

IP_ : Point (position) and axis of symmetry for producing a

mirror image when specified with G51.1.

Axis of symmetry for producing a mirror image when

specified with G50.1. Point of symmetry is not

specified.

- 236 -

B-64304EN-2/01

PROGRAMMING

6.COMPENSATION FUNCTION

Explanation

- Mirror image by setting

If the programmable mirror image function is specified when the

command for producing a mirror image is also selected by a CNC

external switch or CNC setting

(see III-4.8 in User’s Manual

(Common to T/M series.)), the programmable mirror image function is

executed first.

- Mirror image on a single axis in a specified plane

Applying a mirror image to one of the axes on a specified plane

changes the following commands as follows :

Command

Explanation

Circular command

G02 and G03 are interchanged.

Cutter compensation

G41 and G42 are interchanged.

CW and CCW (directions of rotation) are

Coordinate system rotation

interchanged.

Limitation

- Scaling and coordinate system rotation

Processing proceeds from program mirror image to scaling and

coordinate system rotation in the stated order. The commands should

be specified in this order, and, for cancellation, in the reverse order.

Do not specify G50.1 or G51.1 during scaling or coordinate system

rotation mode.

- Commands related to reference position return and coordinate system

In programmable mirror image mode, G codes related to reference

position return (G27, G28, G29, G30, etc.) and those for changing the

coordinate system (G52 to G59, G92, etc.) must not be specified. If

any of these G codes is necessary, specify it only after canceling the

programmable mirror image mode. If it is specified without

canceling the mode, the alarm PS0412 is issued.

- 237 -

7. MEMORY OPERATION USING

Series 10/11 FORMAT

PROGRAMMING

B-64304EN-2/01

7

MEMORY OPERATION USING Series

10/11 PROGRAM FORMAT

Overview

Memory operation of the program registered in Series 10/11 program

format is possible by setting the setting parameter FCV (No. 0001#1)

to 1.

Explanation

Data formats for tool radius compensation, subprogram call, and

canned cycles are different between the Series 0i and Series 10/11.

The Series 10/11 program formats can be processed for memory

operation.

Other data formats must comply with the Series 0i. When a value out

of the specified range for the Series 0i is registered, an alarm occurs.

Functions not available in the Series 0i cannot be used for memory

operation.

- Address for the tool radius compensation offset number

Offset numbers are specified by address D in the Series 10/11.

When an offset number is specified by address D, the modal value

specified by address H is replaced with the offset number specified by

address D.

- Subprogram call

If a subprogram number of more than four digits is specified, the four

low-order digits are regarded as the subprogram number.

If no repeat count is specified, 1 is assumed.

Table 7 (a) Subprogram call program format

CNC

Program format

M98 P{{{{ L{{{{

;

Series 10/11

P : Subprogram number

L : Repetition count (1 to 9999)

M98 P{{{

;

Series 0i

Repetition count Subprogram number

(1 to 9999)

- Address for the canned cycle repetition count for drilling

The Series 10/11 and this CNC use different addresses for the

canned cycle repetition count for drilling as listed in Table 7 (b).

Table 7 (b) Address for the canned cycle repetition count for drilling

CNC

Address

Series 10/11

L

Series 0i

K

- 238 -

8.AXIS CONTROL FUNCTIONS

PROGRAMMING

B-64304EN-2/01

8.1

ELECTRONIC GEAR BOX (G80, G81 (G80.4, G81.4))

8.1.1

Electronic Gear Box

Overview

This function synchronizes the revolutions of the workpiece axis

connected to the servo motor with the revolutions of the tool axis

(grinding stone/hob) connected to the spindle motor so as to machine

(grind/cut) gears as in the hobbing machine function.

The

synchronization ratio can be specified by a program.

Synchronization of the tool axis and the workpiece axis by this

function is directly controlled by a digital servo, so the workpiece axis

can track changes in the speed of the tool axis with no error, thereby

achieving high-precision machining of gears. In the following

descriptions, the electric gear box is called the EGB. For details on

the conditions that need be met to set the workpiece axis and tool axis,

refer to the manual provided by the machine tool builder.

NOTE

Electronic gear box is optional function.

- Example of controlled axis configuration

Spindle

: EGB master axis : Tool axis

1st axis

: X axis

2nd axis : Y axis

3rd axis

: C axis (EGB slave axis : Workpiece axis)

4th axis

: C axis (EGB dummy axis : Cannot be used as a normal

controlled axis.)

CNC

Spindle (master axis)

Spindle amp.

Motor

Spindle

Detector

1st axis X (omitted)

Tool axis

2nd axis Y (omitted)

EGB

FFG

3rd axis C

-

slave axis

Detector

Position control

Velocity/current control

Servo amp.

Motor

C axis

+

Workpiece axis

+

K1

Separate detector

Sync switch

4th axis

-

dummy axis

K1: Sync coefficient

Error counter

Follow-up +

- 240 -

B-64304EN-2/01

PROGRAMMING

8.AXIS CONTROL FUNCTIONS

Format

Parameter EFX

Parameter EFX

(No.7731#0)=0

(No.7731#0)=1

Start of

G81 T＿ ( L＿ )

G81.4 T＿ ( L＿ )

synchronization

( Q＿ P＿ ) ;

( Q＿ P＿ ) ;

Cancellation of

G80 ;

G80.4 ;

synchronization

T : Number of teeth (Specifiable range: 1 to 1000)

L : Number of hob threads (Specifiable range: -200 to +200)

The sign of L determines the direction of rotation for the workpiece axis.

When L is positive, the direction of rotation for the workpiece axis is

positive (+ direction).

When L is negative, the direction of rotation for the workpiece axis is

negative (- direction).

When L is 0, it follows the setting of bit 3 (LZR) of parameter No.7701.

If L is not specified, the number of hob threads is assumed 1.

Q : Module or diametral pitch

Specify a module in the case of metric input.

(Unit: 0.00001mm, Specifiable range: 0.01 to 25.0mm)

Specify a diametral pitch in the case of inch input.

(Unit: 0.00001inch^-1, Specifiable range: 0.01 to 254.0 inch^-1)

P : Gear helix angle

(Unit: 0.0001deg, Specifiable range: -90.0 to 90.0deg)

When specifying Q and P, the user can use a decimal point.

NOTE

Specify G81, G80, G81.4, and G80.4 in a single

block.

Explanation

- Master axis, slave axis, and dummy axis

The synchronization reference axis is called the master axis, while the

axis along which movement is performed in synchronization with the

master axis is called the slave axis. For example, if the workpiece

moves in synchronization with the rotating tool as in a hobbing

machine, the tool axis is the master axis and the workpiece axis is the

slave axis.

Which axes to become the master and slave axes depends on the

configuration of the machine. For details, refer to the manual issued

by the machine tool builder.

A single servo axis is used exclusively so that digital servo can

directly read the rotation position of the master axis.

(This axis is

called the EGB dummy axis.)

- 241 -

8.AXIS CONTROL FUNCTIONS

PROGRAMMING

B-64304EN-2/01

- Direction of helical gear compensation

The direction depends on HDR, bit 2 of parameter No. 7700.

When HDR is set to 1.

(a)

(b)

(c)

(d)

+Z

+C

+C

+C

+C

C:+, Z:+, P:+

C:+, Z:+, P:-

C:+, Z:-, P:+

C:+, Z:-, P:-

Compensation direction : +

Compensation direction : -

Compensation direction : -

Compensation direction : +

-Z

(e)

(f)

(g)

(h)

+Z

−C

−C

−C

−C

C:-, Z:+, P:+

C:-, Z:+, P:-

C:-, Z:-, P:+

C:-, Z:-, P:-

Compensation direction : -

Compensation direction : +

Compensation direction : +

Compensation direction : -

-Z

When HDR is set to 0. (In (a), (b), (c), and (d), the same as that if HDR is 1)

(e)

(f)

(g)

(h)

+Z

−C

−C

−C

−C

C:-, Z:+, P:+

C:-, Z:+, P:-

C:-, Z:-, P:+

C:-, Z:-, P:-

Compensation direction : +

Compensation direction : -

Compensation direction : -

Compensation direction : +

-Z

- Synchronization coefficient

A synchronization coefficient is internally represented using a fraction

(Kn/Kd) to eliminate an error. The formula below is used for

calculation.

K

L ȕ

Synchronization coefficient = ⁿ

=

×

K_d

T

Į

where

L : Number of hob threads

T : Number of teeth

α : Number of pulses of the position detector per rotation about the

master axis (parameter No. 7772)

β : Number of pulses of the position detector per rotation about the

slave axis (parameter No. 7773)

Kn / Kd is a value resulting from reducing the right side of the above

formula, but the result of reduction is subject to the following

restrictions:

-2147483648≤K_n≤2147483647

1≤K_d≤65535

When this restriction is not satisfied, the alarm (PS1596) is issued

when G81 is specified.

- 246 -

8.AXIS CONTROL FUNCTIONS

PROGRAMMING

B-64304EN-2/01

- Retract function

(1) Retract function with an external signal

When the retract switch on the machine operator’s panel is

turned on, retraction is performed with the retract amount set in

parameter No. 7741 and the feedrate set in parameter No. 7740.

No movement is performed along an axis for which 0 is set as the

retract amount.

For the retract switch, refer to the relevant manual provided by

the machine tool builder.

(2) Retract function with an alarm

If, during EGB synchronization or automatic operation, a CNC

alarm is issued, retraction is performed with the retract amount

set in parameter No. 7741 and the speed set in parameter No.

7740.

This can prevent the tool and the object being machined from

damage if a servo alarm is generated.

No movement is performed along an axis for which 0 is set as the

retract amount.

For the retract switch, refer to the relevant manual provided by

the machine tool builder.

Conditions under the retract function with an alarm

The conditions under which the retract function with a servo or

spindle alarm can be changed using the settings of ARE, bit 1 of

parameter No. 7703, and bit 2 (ARO) of parameter No. 7703.

The table below lists parameter settings and corresponding

conditions.

ARE

ARO

Condition

1

0

EGB synchronization is in progress.

Both EGB synchronization and

1

1

automatic operation are in progress.

0

0

Either EGB synchronization or

0

1

automatic operation is in progress.

CAUTION

1 Retraction is performed at the speed specified in

parameter No. 7740.

2 Feed hold is not effective to movement during

retraction.

3 Feedrate override is not effective to movement

during retraction.

- 248 -

B-64304EN-2/01

OPERATION

1.SETTING AND DISPLAYING DATA

1.1.1

Setting and Displaying the Tool Compensation Value

Tool offset values, tool length compensation values, and cutter

compensation values are specified by D codes or H codes in a

program. Compensation values corresponding to D codes or H codes

are displayed or set on the screen.

There are two tool offset memory types, A and C.

Procedure for setting and displaying the tool compensation value

Procedure

1

Press function key

2

Press chapter selection soft key [OFFSET] or press function key

several times until the tool compensation screen is

displayed.

The screen varies according to the type of tool compensation

memory.

Fig. 1.1.1 (a) Tool compensation memory A (10.4-inch)

- 255 -

1.SETTING AND DISPLAYING DATA OPERATION

B-64304EN-2/01

Fig. 1.1.1 (b) Tool compensation memory C (10.4-inch)

3

Move the cursor to the compensation value to be set or changed

using page keys and cursor keys, or enter the compensation

number for the compensation value to be set or changed and

press soft key [NO.SRH].

4

To set a compensation value, enter a value and press soft key

[INPUT].

To change the compensation value, enter a value to add to the

current value (a negative value to reduce the current value) and

press soft key [+INPUT]. Or, enter a new value and press soft

key [INPUT].

Explanation

- Decimal point input

A decimal point can be used when entering a compensation value.

- Other setting method

An external input/output device can be used to input or output a tool

offset value. See Chapter III-8 in User’s Manual (Common to T/M). A

tool length compensation value can be set by measuring the tool

length as described in the next subsection.

- Tool compensation memory

There are tool compensation memories A and C, which are classified

as follows:

Tool compensation memory A

D codes and H codes are treated the same. Tool geometry

compensation and tool wear compensation are treated the same.

Tool compensation memory C

D codes and H codes are treated differently. Tool geometry

compensation and tool wear compensation are treated differently.

- 256 -

1.SETTING AND DISPLAYING DATA OPERATION

B-64304EN-2/01

1.1.2

Tool Length Measurement

The length of the tool can be measured and registered as the tool

length compensation value by moving the reference tool and the tool

to be measured until they touch the specified position on the machine.

The tool length can be measured along the X-, Y-, or Z-axis.

Bit 7 (NTL) of parameter No. 8136 can be used to specify whether to

use tool length measurement ("0" for specifying to use it and "1" for

specifying not to use it).

Procedure for tool length measurement

Procedure

1

Use manual operation to move the reference tool until it touches

the specified position on the machine (or workpiece.)

2

Press function key

several times until the current position

display screen with relative coordinates is displayed.

Fig. 1.1.2 (a) Current position display screen (8.4-inch)

3

Reset the relative coordinate for the Z-axis to 0.

4

Press function key

several times until the tool

compensation screen is displayed.

5

Use manual operation to move the tool to be measured until it

touches the same specified position. The difference between the

length of the reference tool and the tool to be measured is

displayed in the relative coordinates on the screen.

6

Move the cursor to the compensation number for the target tool

(the cursor can be moved in the same way as for setting tool

compensation values).

- 258 -

Content      ..     7      8      9      10     ..