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3-dimensional cutter compensation Additional Manual Page 17

Additional Manual
Title
No.
FANUC Series 16i-MA/MB
3-Dimensional Cutter Compensation
A-78438E
Page
16/
38
　Newly registered　　　　　　　
Ver Date Design Description
01 01.03.16
Hosokawa
Ua: Vector AB
Ub: Vector BC
Va: Tool direction vector between A and B
Vb: Tool direction vector between B and C
Wa: Va × Ua
Wb: Vb × Ub
(Here, × represents an outer product operator.)
Y
Z
Va
Vb
B
C
X
WaWb
Ua
Ub
Fig.1.1 (q) Conceptual Diagram
A
’ : Point A projected onto the compensation plane
B’ : Point B projected onto the compensation plane
C’ : Point C projected onto the compensation plane
Ra: Vector A'B'
Rb: Vector B'C'
e3
e2
A
’C’B’
Ra
Rb
Fig.1.1 (r) Programmed Path (on the Compensation Plane) before and after the End
Point (Point B) of N4
When all the following conditions are satisfied, an alarm
(PS0272) Issued.
(1) The tool direction vector changes remarkably.
α : Angle for determination set in parameter No. 6261 (The
default is 45°.)
(Va,Vb) ≤ cos(α)(Here, (Va,Vb) means an inner product.)
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Contents Summary of 3-dimensional cutter compensation Additional Manual

  • Page 1TECHNICAL REPORT (MANUAL) No.TMN 01/049 Date : Mar. 29, 2001 General Manager of Software Laboratory FANUC Series 16i-MA/MB 3-Dimensional Cutter Compensation 1. Communicate this report to: Your information only ○ GE Fanuc-N, GE Fanuc-E FANUC Robotics MILACRON ○ Machine tool builder Sales agency End u
  • Page 2FANUC Series 16i-MA/MB 3-Dimensional Cutter Compensation This specification may be modified for improvement without notice. FANUC Series 16i-MA/MB Title 3-Dimensional Cutter Compensation 01 01.03.16 Hosokawa Newly registered No. A-78438E Ver Date Design Description Page 1/38
  • Page 3Contents 1 3-DIMENSIONAL CUTTER COMPENSATION ................................................................................................ 3 1.1 Tool Side Compensation.................................................................................................................................
  • Page 41 3-DIMENSIONAL CUTTER COMPENSATION The 3-dimensional cutter compensation function is used with machines that can control the direction of tool axis movement by using rotation axes (such as the B- and C-axes). This function performs cutter compensation by calculating a tool vector from the positions
  • Page 51.1 Tool Side Compensation Tool side compensation is a type of cutter compensation that performs 3- dimensional compensation on a plane (compensation plane) perpendicular to a tool direction vector. Programmed tool path Tool vector (before compensation) Cutter compensation vector Tool center path(af
  • Page 6Explanation - Operation at compensation start-up and cancellation (1) Type A Type A operation is similar to cutter compensation as shown below. Operation in linear interpolation :Tool center path :Programmed tool path Tool G40 G41.2 Operation in circular interpolation :Tool center path :Programmed t
  • Page 7Operation in circular interpolation :Tool center path :Programmed tool path G40 G42.2 Tool Fig.1.1 (c) Operation at compensation start-up and cancellation (Type B) (3) Type C As shown in the following figures, when G41.2, G42.2, or G40 is specified, a block is inserted which moves the tool perpendic
  • Page 8NOTE For type C operation, the following conditions must be satisfied when tool side compensation is started up or canceled : 1 The block containing G40, G41.2, or G42.2 must be executed in the G00 or G01 mode. 2 The block containing G40, G41.2, or G42.2 must have no move command. 3 The block after
  • Page 9: Tool center path Workpiece : Programmed tool path : Tool offcet value Actual tool Actual tool Reference tool Workpiece Reference tool Example(1)-3 Example(1)-4 Fig.1.1 (f) Operation in the compensation mode (1)-3, 4 (2) When the tool moves at a corner, the feedrate of the previous block is used if
  • Page 10: Tool center path : Programmed tool path Example(3)-1 Tool movement when Example(3)-2 Tool movement when the changing G41.2 to G42.2 G code is left unchanged (G41.2 mode) (G41.2 mode) G91 G01 X100.0 G91 G01 X100.0 G42.2 X-100.0 X-100.0 Fig.1.1 (h) Operation in the compensation mode (3) (4) Even whe
  • Page 11Z Tool axis Tool Y Actual offset vector End point Start point X Move command Actual tool center path Projected Offset vector created in the compensation plane Tool center path created in the compensation plane (Compensation plane = XY plane) Fig.1.1 (i) Operation in the compensation mode (4) - Compe
  • Page 12In above figure, cutter compensation vector VD at point Q is calculated as follows : (1) Calculating the tool vector (VT) (2) Calculating the coordinate conversion matrix (M) Coordinate systems are defined as follows : - Coordinate system C1 : {O; X, Y, Z} Cartesian coordinate system whose fundament
  • Page 13e3 R' VD' P' Q' e2 Fig.1.1 (k) Compensation vector calculation The e1 component of VD' is assumed to be always 0. The calculation is similar to the calculation of cutter compensation C. Although one vector is obtained in this example, up to four vectors may be calculated. If the difference between t
  • Page 14- The tool vector (VT) and coordinate conversion matrix (M) are calculated using the coordi nates (Bq, Cq) of the rotation axis at point Q. - The cutter compensation vector is calculated using the resultant coordinates into which three points, P, Q, and R, are converted by matrix M. Q N3 R N2 Q' R'
  • Page 15Q=R(N3) N4 VN2 =VN3 S N2 Q'=R' S' P N1 P' O Fig.1.1 (m) When a rotation axis is specified alone - Interference check made when the compensation plane is changed An interference check is made when the compensation plane (plane perpendicular to a tool direction vector) is changed. If the pro
  • Page 16Z C A Vb Va 45° 46° B Y Va: Tool direction vector when A = -46 Vb: Tool direction vector when A=45 A: End point of N3 B: End point of N4 C: End point of N6 Fig.1.1 (o) Tool Direction Vector e3 e2 V2 B’ C’ A’ V1 A’ : Point A projected onto the compensation plane B’ : Point B projected onto the compen
  • Page 17Z C A Vb Va Ua Ub Wb Wa B Y X Ua: Vector AB Ub: Vector BC Va: Tool direction vector between A and B Vb: Tool direction vector between B and C Wa: Va × Ua Wb: Vb × Ub (Here, × represents an outer product operator.) Fig.1.1 (q) Conceptual Diagram e3 e2 B’ C’ A’ Ra Rb A’ : Point A projected onto the co
  • Page 18(2) The difference between the directions of the compensation vectors to be generated is small. Wa : Direction of a compensation vector to be generated by the AB block. Wb : Direction of a compensation vector to be generated by the BC block. Wa = Va × Ua Wb = Vb × Ub (Wa,Wb) ≥ 0 (3) The path angle d
  • Page 19(3) Q3 command By inserting a Q3 command, the issue of the alarm can be suppressed. Example) N4 Y-200 Z-200 Q3 e3 e2 V2 B’ C’ A’ V1 The two vectors (V1 and V2) are not deleted. Fig.1.1 (u) Q3 Command FANUC Series 16i-MA/MB Title 3-Dimensional Cutter Compensation 01 01.03.16 Hosokawa Newly registered
  • Page 201.2 Leading Edge Offset Leading edge offset is a type of cutter compensation that is used when a workpiece is machined with the edge of a tool. A tool is automatically shifted by a specified cutter compensation value on the line where a plane formed by a tool direction vector and tool movement direc
  • Page 21Explanation - Operation at compensation start-up and cancellation Unlike tool side compensation the operation performed at leading edge compensation start-up and cancellation does not vary. When G41.3 is specified, the tool is moved by the amount of compensation (VC) in the plane formed by the movem
  • Page 22Tool center path (after compensation) VT2 VT1 VC1 VC2 Programmed tool path VM3 VM1 VM2 VMn : Movement vector of block n VTn : Tool vector at the end of block n VCn : Compensation vector of block n (that lies in the VTn- VMn+1 plane, and is perpendicular to VTn) Fig.1.2 (d) Operation in the compensat
  • Page 23The compensation vector (VC2) of block 2 is created so that it is perpendicular to VT2 and lies in the plane formed by the tool vector (VT2) at the end point of block 2 and the movement vector (VM2) of block 2. - Method of compensation vector calculation In leading edge compensation, the compensatio
  • Page 24R = Offset value éVTX ù VTn = êêVTY úú êëVTZ ú éVMX ù V M n +1 = êêVMY úú êëVMZ ú éV X ù ( V = êêVY úú = VM n +1 × VTn × VTn ) êëVZ ú éVTZ (VMZ VTX − VMX VTZ ) − VTY (VMX V TY −VMY VTX )ù = êêVTX (VMX VTY − VMY VTX ) − VTZ (VMY V TZ −VMZ VTY ) êëVTY (VMY VTZ − VMZ VTY ) − VTX (VMZ V TX −VMX VTZ ) Th
  • Page 25(1) If 0 ≤ θ ≤ ∆θ, θ is regarded as 0deg. ∆θ VTn θ VMn+1 Fig.1.2 (i) Determination of θ=0deg. (2) If (180-∆θ) ≤ θ ≤ 180, θ is regarded as 180deg. θ ∆θ VTn VMn+1 Fig.1.2 (j) Determination of θ=180deg. (3) If (90-∆θ) ≤ θ ≤ (90+∆θ), θ is regarded as 90deg. ∆θ ∆θ VTn VTn θ θ VMn+1 VMn+1 Fig.1.2 (k) Dete
  • Page 26Tool center path (after compensation) VT1 VT5 VC1 VC2 VC5 VM1 VT2 VC3 VT3 VC4 VT4 VM2 VM3 VM6 Programmed VM4 VM5 Path Fig.1.2 (l) When θ=0deg.Is Determined If the included angles between VT2 and VM3, VT3 andVM4, and VT4 and VM5 are regarded as 180deg., the compensation vector VC1 of block 1 is maint
  • Page 27Restrictions - G41.2, G42.2, and G41.3 modes G41.2, G42.2, G41.3, and G40 are continuous-state G codes that belong to the same group. Therefore, the G41.2, G42.2, and G41.3 modes cannot exist at the same time. - Canned cycle command Specify a canned cycle command in the compensation cancel mode (G40
  • Page 28- Commands that cannot be specified In the mode for this function, the following commands cannot be used. The alarm is issued when the following commands are orderd. : - Custom macro B - Exponentioal interpolation -G02.3,G03.3 - Dwell -G04 - Function concerning high-speed machining -G05 (exclude G05
  • Page 29- Constant surface speed control -G96,G97 - Infeed control -G160,G161 - NURBS interpolation -G06.2 - Workpiece coordinate system -G54,G54.1,G55,G56,G57,G58,G59 - M,S,T and B functions with motion command - - Function that cannot be specified In the mode for this function, the following functions can
  • Page 30Parameter (1) Parameters setting the relationship between the rotation axis and rotation plane with which the tool is controlled (1) Relationship between the rotation axis and rotation plane Parameter（No.19610～19619） (2) Direction of the tool axis Parameter（No.19622～19623） (3) Reference angle for th
  • Page 3119610 Rotation axis for three-dimensional cutter compensation and so forth (first group) 19611 Linear axis 1 for three-dimensional cutter compensation and so forth (first group) 19612 Linear axis 2 for three-dimensional cutter compensation and so forth (first group) 19613 Linear axis 3 for three-dim
  • Page 3219618 Linear axis 3 for three-dimensional cutter compensation and so forth (second group) [In pu t t ype] P a r a m et er in pu t [Da t a t ype] Wor d t ype [Va lid da t a r a n ge] 0 - n u m ber of con t r olled a xes Set t h e r ot a t ion a xis a n d lin ea r a xes t o per for m t h r ee-dim en s
  • Page 33- In general, the direction vector of a rotation axis has three direction components. This function supports direction vectors with one direction component and two direction components. In each case, set the following: A) When the direction vecotor of a rotation axis has one direction component (typ
  • Page 34Z B Y α α: Angle of inclination X 19620 Reference angle for the rotation axis for three-dimensional cutter compensation and so forth (first group) 19621 Reference angle for the rotation axis for three-dimensional cutter compensation and so forth (second group) [In pu t t ype] P a r a m et er in pu t
  • Page 3519622 Reference angle for the tool axis in the plane formed by linear axes 2 and 3 (RA) 19623 Reference angle for the tool axis in the plane formed by linear axes 3 and 1 (RB) [In pu t t ype] P a r a m et er in pu t [Da t a t ype] 2 wor d t ype [Un it of da t a ] degr ee [Min im u m u n it of da t a
  • Page 36When tool axis and linear axis 3 match Linear axis 3 Linear axis 2 RA = 0.0 RB = 0.0 Linear axis 1 When tool axis and linear axis 1 match Linear axis 3 Linear axis 2 RA = 0.0 RB = 90.0 Linear axis 1 19630 Limit for assuming the block as a non-movement block in intersection calculation for tool side
  • Page 37#7 #6 #5 #4 #3 #2 #1 #0 19605 NIC [In pu t t ype] P a r a m et er in pu t [Da t a t ype] Bit #5 N IC Specifies wh et h er t o per for m a n in t er fer en ce ch eck wh en com pen sa t ion pla n e swit ch in g occu r s du r in g t h r ee-dim en sion a l cu t t er com pen sa t ion . 0: P er for m . 1:
  • Page 3819631 Angle determination fluctuation value for leading edge offset [In pu t t ype] P a r a m et er in pu t [Da t a t ype] 2 wor d t ype [Un it of da t a ] degr ee [Min im u m u n it of da t a ] Depen d on t h e in cr em en t syst em of t h e r efer en ce a xis [Va lid da t a r a n ge] -99999999 - +
  • Page 39Alarm and message Number Message Contents P/S0037 CRC:PLANE CHANGE An attempt was made to change the plane in the cutter compensation mode. To change the plane, cancel the cutter compensation mode. P/S0041 CRC:INTERFERENCE The depth of the cut is too great during cutter compensation. Check the progr