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Series 16i /18i Additional Manual Page 2

Additional Manual
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FANUC Series 16i/18i-MB, 18i-MB5
TILTED WORKING PLANE COMMAND
Enhancement in tool axis direction control Specification
A
-79310E
2004.1.21
2
/
12
1.1 Tilted working plane command;
Enhancement in tool axis direction control
Overview
Generally, two rotation axes will move in tool axis direction control of tilted
working plane command (G53.1). In this case, it may be desirable that the
moving angle of the heavier rotation axis is smaller, or the ranges of rotation
axes moving angles are limited.
The enhancement makes it possible to specify the axis whose moving angle is
smaller and to specify the the ranges of rotation axes moving angles.
When the tool axis direction control (G53.1) is specified, more than two pairs of
"computed angles" of the rotation axes usually exist.
The "computed angle" is the candidate angle at which the rotation axis is to be
controlled in the specified tool axis direction.
The "output angle" is determined from the "computed angle", and the rotation
axis moves to that angle.
The way to determine the "output angle" form the "computed angle" is improved
as follows.
- It can be specified whether the moving angle of the first rotation axis is smaller
or the moving angle of the second rotation axis is smaller.
(Parameter PRI (No.19608#5))
- If the movement range of rotation axis is set to the parameters, the "output
angle" is determined within the range.
(Parameters No.19741 - No.19744)
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Contents Summary of Series 16i /18i Additional Manual

  • Page 1FANUC Series 16i /18i – MB FANUC Series 18i – MB5 TILTED WORKING PLANE COMMAND Enhancement in tool axis direction control Specifications TITLE FANUC Series 16i/18i-MB, 18i-MB5 TILTED WORKING PLANE COMMAND Enhancement in tool axis direction control Specification Draw No. A-79310E Edit Date Design Des
  • Page 21.1 Tilted working plane command; Enhancement in tool axis direction control Overview Generally, two rotation axes will move in tool axis direction control of tilted working plane command (G53.1). In this case, it may be desirable that the moving angle of the heavier rotation axis is smaller, or the
  • Page 3When the tool axis direction control (G53.1) is specified, the "output angle" is determined form the "computed angle" as follows. If the parameter PRI(No.19608#5)=0 Tool rotation type or table rotation type machine <1> The "output angles" are represented by the computed rotation axis angle pair whos
  • Page 4If the parameter PRI(No.19608#5)=1 Tool rotation type or table rotation type machine <1> The "output angles" are represented by the computed rotation axis angle pair whose slave axis (second rotation axis) moving angle is smaller. -> When the slave axis moving angle is the same -> <2> The "output an
  • Page 5CAUTION 1 If the lower limit of the movement range is larger than the upper limit, alarm 5459 occurs when G53.1 is specified. 2 If no "computed angle" is found within the movement range because the range is too small, alarm 5459 occurs. 3 If 0 is set for both parameters that specify the upper and lo
  • Page 6A pair of computed angles among the pairs which are connected by the dotted line in the above figure becomes the "output angle". If the angles (the "current angles") are 50.0 (tool rotation axis) and 150.0 (table rotation axis), when G53.1 has been specified, the "output angles" are determined as fo
  • Page 7(2) The case that the table moving angle is smaller and the movement range is not specified: (PRM19608#5=1, PRM19741=0, PRM19742=0, PRM19743=0, PRM19744=0) "Output angles": (Tool rotation axis 30.0, Table rotation axis 270.0) The computed angle of tool rotation axis that is nearest to the current an
  • Page 8(3) The case that the table moving angle is smaller and the movement range is specified (1): (PRM19608#5=0, PRM19741=355.0, PRM19742=5.0, PRM19743=0, PRM19744=0) "Output angles": (Tool rotation axis 330.0, Table rotation axis 90.0) The computed angle of table rotation axis that is nearest to the cur
  • Page 9(4) The case that the table moving angle is smaller and the movement range is specified (2): (PRM19608#5=0, PRM19741=355.0, PRM19742=5.0, PRM19743=350.0, PRM19744=100.0) "Output angles": (Tool rotation axis 30.0, Table rotation axis 270.0) The computed angle of table rotation axis that is nearest to
  • Page 101.1.1 Parameters #7 #6 #5 #4 #3 #2 #1 #0 19608 PRI [Data type] Bit #5 PRI Among multiple end point candidates that exist when a movement is made on a rotation axis by a command such as I, J, and K at tilted working plane command: 0: A combination in which the master (first rotation axis) makes a sma
  • Page 1119742 Lower limit of the movement range of the first rotation axis [Data type] 2 Word [Unit of data] increment system IS-B IS-C unit Rotation axis 0.001 0.0001 deg [Valid data range] -99999999 to +99999999 In tilted working plane command, set the lower limit of the movement range of the first rotati
  • Page 121.1.2 Alarm and message Number Message Description 5459 MACHINE PARAMETER - A machine configuration parameter (parameter No. INCORRECT 19665 to No.19667 or 19680 to 19714) is illegal. - The axis which is set to parameter No.19681 or No.19686 is not a rotation axis. - The basic three axes are not set