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FANUC Series 30i/31i-A Specifying Tilted Working Plane Based on the Tool Axis Direction Additional Manual Page 4

Additional Manual
Ed.
App
rov.
Page
Name No.
Date Person
Contents
Date
FANUC Series 30i
/
31i-
A
Specifying Tilted Working Plane
Based on the Tool Axis Direction
A
-79976E
Feb.03.’05
4
/
14
FANUC LTD.
Person
Explanation
- Feature coordinate system
By specifying G68.3, a feature coordinate system with the tool axis direction being the
+Z-axis direction can be created. The tool axis direction means the tool axis
direction based on the rotation axis position reached by automatic operation or
manual operation.
- Origin of a feature coordinate system
The origin of a feature coordinate system must be specified using an absolute
command.
Even in the incremental command mode, the specified origin is regarded as an
absolute position.
When 1 address or 2 addresses are omitted in X, Y, Z, alarm PS5457 is issued.
When the origin of a feature coordinate system is not specified, the position when
G68.3 is specified is used as the origin.
- Determination of a feature coordinate system
When G68.3 is specified, the tool axis direction vector (
) represents the +Z
direction (
Zc ) of the feature coordinate system.
The vector normal to a plane formed by the +Z direction (
Zc ) of the feature
coordinate system and the vertical axis direction vector (
P
) (parameter No. 12321)
represents the +X direction (
Xc ) of the feature coordinate system.
Expression:
ZcPXc
×
=
The vector normal to the +Z direction (
Zc ) of the feature coordinate system and the
+X direction (
Xc ) of the feature coordinate system represents the +Y direction (Yc )
of the feature coordinate system.
Expression:
XcZcYc
×
=
When R is commanded, a coordinate system rotated by R around Zc from the above-
mentioned coordinate system is the feature coordinate system.
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Contents Summary of FANUC Series 30i/31i-A Specifying Tilted Working Plane Based on the Tool Axis Direction Additional Manual

  • Page 1FANUC Series 30i/31i -A Specifying a Tilted Working Plane Based on the Tool Axis Direction Specifications FANUC Series 30i/31i-A Name Specifying Tilted Working Plane Based on the Tool Axis Direction No. A-79976E Ed. Date Date Person Feb.03.’05 Person Contents Approv. FANUC LTD. Page 1 / 14
  • Page 21.1 SPECIFYING A TILTED WORKING PLANE BASED ON THE TOOL AXIS DIRECTION Overview By specifying G68.3, a coordinate system (feature coordinate system) where the tool axis direction is the +Z-axis direction can be automatically specified. When a feature coordinate system is used, a program for cutting
  • Page 3Format Format G68.3 X x0 Y y0 Z z0 Rα ; Set a feature coordinate system. G69 ; Cancel feature coordinate system setting (M series). G69.1; Cancel feature coordinate system setting (T series). Explanation of symbols X,Y,Z : Origin of a feature coordinate system (absolute) When 1 address or 2addresses
  • Page 4Explanation - Feature coordinate system By specifying G68.3, a feature coordinate system with the tool axis direction being the +Z-axis direction can be created. The tool axis direction means the tool axis direction based on the rotation axis position reached by automatic operation or manual operati
  • Page 5Vertical axis direction: P Zc Z-axis of feature coordinate system (Tool axis direction: T) Yc Xc Y-axis of feature X-axis of feature coordinate coordinate system system Fig. (c) Determination of a feature coordinate system When the tool axis direction vector ( T ) is parallel with the vertical axis
  • Page 6- Angular displacement R Angular displacement R is positive when a rotation is made clockwise viewed in the Z-axis direction of the feature coordinate system. The range of angular displacement R is: 0.0° ≤ R ≤ 360.0°. - Machine of table rotation type On a machine of table rotation type, the tool dir
  • Page 7- Example of operation An example of operation on a machine of tool rotation type is given below. The machine configuration is "BC type reference tool axis Z-axis". BC type tool axis Z-axis (Axes are intersecting.) C: 1st rotation axis (master) B: 2nd rotation axis (slave) Tool holder offset value =
  • Page 8Machine operation by sample program 1 Z N3 command Y Workpiece coorditate system X X- Y- Z N4 command Zｃ Yｃ Feat ur e coor di nat e syst em Xc- Yc- Zc Xｃ N5 command Z N7 command Y Workpiece coorditate system X- Y- Z X N3 block: Tilts the tool. N4 block: Sets a feature coordinate system where the too
  • Page 9Machine operation by sample program 2 Z N3 command Y Workpiece coorditate system X- Y- Z X Z N4 command Y X Zｃ N5 command Yｃ Feat ur e coor di nat e syst em Xc- Yc- Zc Xｃ Z N6 command Y Workpiece coorditate system X- Y- Z X N3 block: Performs tool length compensation in the workpiece coordinate syst
  • Page 101.2 Multiple G68.3 After the tool axis direction is changed in G68.3 mode, by specifying G68.3, a new feature coordinate system where the tool axis direction is the +Z-axis direction can be specified. - Origin of a feature coordinate system In the case of specifying G68.3 in G68.3 mode, the origin o
  • Page 11Machine operation by sample program 3 Z N3 command Y Yｃ X Xｃ Zｃ Feat ur e coor di nat e syst em Xc- Yc- Zc N4 command Z Y Yｃ X Xｃ Zｃ N5 command Z Y Yｃ Xｃ Zｃ X N7 command Z Y Yｃ X Zｃ Xｃ N3 block: Sets a feature coordinate system where the tool axis direction is the Z- axis direction. N4 block: Change
  • Page 12Restrictions The restrictions imposed on three-dimensional coordinate conversion also apply to the tilted working plane command. The following presents the restrictions to bear in mind in particular: Tool length compensation When tool length compensation direct is X-axis direction or Y-axis directio
  • Page 13Parameters 12321 Normal axis direction [Input type] Parameter input [Data type] Integerpath [Valid data range] 0-3 For longitude or latitude direction feed in the 5-axis machining manual feed mode, this parameter sets the axis parallel to the normal direction. 1 : Positive (+) X-axis direction 2 : P
  • Page 14Alarm and message Number Message Description PS5457 G68.2/G68.3 FORMAT ERROR A G68.2/G68.3 format error occurred. PS5459 MACHINE PARAMETER - A machine configuration parameter (parameter No.19665 INCORRECT to 19667, No. 19680 to 19714, or No. 12321) is incorrect. - The axis set in parameter No. 19681