Additional Manual

A-79619E

Title

Draw

No.

Ed. Date Design Description

Date Sep.10.’04 Design. Apprv.

12/53

page

FANUC Series 30i/31i-MODEL A

Rotation Area Interference Check

#7 #6 #5 #4 #3 #2 #1 #0

14902

IRD IRC IDA2 IDA1 ICA2 ICA1

[Input type] Parameter input

[Data type] Bit

ICA1 Movement direction of group C (the first axis)

0: The direction of movement along the first axis of the group-C

movement plane is the same as the direction of movement along the

first axis on the group-A movement plane.

1: The direction of movement along the first axis of the group-C

movement plane is opposite to the direction of movement along the first

axis on the group-A movement plane.

ICA2 Movement direction of group C (the second axis)

0: The direction of movement along the second axis of the group-C

movement plane is the same as the direction of movement along the

second axis on the group-A movement plane.

1: The direction of movement along the second axis of the group-C

movement plane is opposite to the direction of movement along the

second axis of the group-A movement plane.

IDA1 Movement direction of group D (the first axis)

0: The direction of movement along the first axis of the group-D

movement plane is the same as the direction of movement along the

first axis on the group-A movement plane.

1: The direction of movement along the first axis of the group-B

movement plane is opposite to the direction of movement along the first

axis on the group-A movement plane.

IDA2 Movement direction of group D (the second axis)

0: The direction of movement along the second axis of the group-D

movement plane is the same as the direction of movement along the

second axis on the group-A movement plane.

1: The direction of movement along the second axis of the group-D

movement plane is opposite to the direction of movement along the

second axis of the group-A movement plane.

IRC Rotation direction of the rotation axis on which group C is rotated

0: The direction of a rotation from the positive side of the first axis of the

plane to the positive side of the second axis is assumed to be the

positive direction of the rotation axis on which group C is rotated.

1: The direction of a rotation from the positive side of the first axis of the

plane to the positive side of the second axis is assumed to be the

negative direction of the rotation axis on which group C is rotated.

- Page 1FANUC Series 30i/31i-MODEL A Rotation Area Interference Check Specifications FANUC Series 30i/31i-MODEL A Title Rotation Area Interference Check Draw A-79619E No. Ed. Date Design Description page 1/53 Date Sep.10.’04 Design. Apprv.
- Page 2Overview This function checks the tool post and chucks for any interference to bring the machine to a stop safely. Four groups of interference check areas can be set; each group can be specified by combining rectangular areas together. Interference check group A Interference check Interference check
- Page 3Operation An interference check can be performed in the six patterns below. Group A-group B The two groups are checked for any interference due to the movement and rotation of group A and those of group B. Interference check group A Interference check Interference check group D Interference check gr
- Page 4Group A-group D The two groups are checked for any interference due to the movement and rotation of group A and those of group D. Interference check group A Interference check Interference check group D Interference check group B Interference check group C Group B-group C The two groups are checked
- Page 5Group B-group D The two groups are checked for any interference due to the movement and rotation of group B and those of group D. Interference check group A Interference check Interference check group D Interference check group C Interference check group B Group C-group D The two groups are checked
- Page 6NOTE 1 Each interference check is performed when needed, and it takes a processing time of 16 msec to finish the checks on all groups. (The time can be changed with bits 4 to 7 of parameter No. 14900.) 2 If an interference check detects interference, alarm "OT0514 interference: +n axis" or "OT0515 i
- Page 7NOTE 1 It is not possible to cause the alarm to be generated before interference check groups interfere with each other. It is, therefore, necessary to define areas with sufficient margins according to the feedrate. The distance to move along the axis after the alarm is generated can be determined w
- Page 8Signals Rotation area interference check disable signal ITCD
[Classification] Input signal [Function] Enables and disables the rotation area interference check function alternately. [Operation] When "1", the signal disables the interference check function. when "0", it enables the interfer - Page 9Interference check area change completion signal ITED
[Classification] Output [Function] Notifies that changes have been made to the rectangular area setting parameters for the interference check groups. [Operation] Becomes "1" if: ・Changes in the rectangular area setting parameters for th - Page 10Parameter #7 #6 #5 #4 #3 #2 #1 #0 14900 IC4 IC3 IC2 IC1 IRB IRA IB2 IB1 [Input type] Parameter input [Data type] Bit IB1 Movement direction of group B (the first axis) 0: The direction of movement along the first axis of the group-B movement plane is the same as the direction of movement along the f
- Page 11IC1 to IC4 Processing time required to make the interference check The processing time is a multiple of 8. If the calculated value of the processing time is smaller than 8, the processing time is assumed to be 8 msec. Setting IC4 IC3 IC2 IC1 16 0 0 0 0 4(8) 0 0 0 1 8 0 0 1 0 16 0 1 0 0 24 0 1 1 0 32
- Page 12#7 #6 #5 #4 #3 #2 #1 #0 14902 IRD IRC IDA2 IDA1 ICA2 ICA1 [Input type] Parameter input [Data type] Bit ICA1 Movement direction of group C (the first axis) 0: The direction of movement along the first axis of the group-C movement plane is the same as the direction of movement along the first axis on
- Page 13IRD Rotation direction of the rotation axis on which group D is rotated 0: The direction of a rotation from the positive side of the first axis of the plane to the positive side of the second axis is assumed to be the positive direction of the rotation axis on which group D is rotated. 1: The direct
- Page 1414910 Axis number of the first axis of the plane on which group A is moved [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path
- Page 15This parameter should set the value. Example) When an interference check is made on the Z-X plane, the first axis is the X-axis. NOTE This parameter is necessary for defining the rectangle other than A group, and this parameter is necessary also for defining a rectangular rotation center position ot
- Page 1614913 Axis number of the first axis of the plane on which group B is moved [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path
- Page 1714915 Axis number of the rotary axis on which group B is rotated [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path 101 to 13
- Page 1814916 Axis number of the first axis of the plane on which group C is moved [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path
- Page 1914918 Axis number of the rotary axis on which group C is rotated [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path 101 to 13
- Page 2010900 Axis number of the first axis of the plane on which group D is moved [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path
- Page 2110902 Axis number of the rotary axis on which group D is rotated [Input type] Parameter input [Data type] Word [Valid data range] 0 to the number of controlled axes or m×100+n (m:1 to the path number, n:1 to the number of controlled axes) Setting value 1 to 32 : controlled axes on own path 101 to 13
- Page 2214920 Maximum point of rectangle 1 of group A in the first axis 14921 Minimum point of rectangle 1 of group A in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit) [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 2314924 Maximum point of rectangle 2 of group A in the first axis 14925 Minimum point of rectangle 2 of group A in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit) [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 2414928 Maximum point of rectangle 3 of group A in the first axis 14929 Minimum point of rectangle 3 of group A in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit) [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 2514932 Maximum point of rectangle 4 of group A in the first axis 14933 Minimum point of rectangle 4 of group A in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit) [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 2614936 Rotation center in the first axis when group-A is rotated 14937 Rotation center in the second axis when group-A is rotated [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit) [Minimum unit of data] Depend on the increment system of the reference axis in the firs
- Page 2714940 Maximum point of rectangle 1 of group B in the first axis 14941 Minimum point of rectangle 1 of group B in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 2814944 Maximum point of rectangle 2 of group B in the first axis 14945 Minimum point of rectangle 2 of group B in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 2914948 Maximum point of rectangle 3 of group B in the first axis 14949 Minimum point of rectangle 3 of group B in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3014952 Maximum point of rectangle 4 of group B in the first axis 14953 Minimum point of rectangle 4 of group B in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3114956 Rotation center in the first axis when group-B is rotated 14957 Rotation center in the second axis when group-B is rotated [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3214960 Maximum point of rectangle 1 of group C in the first axis 14961 Minimum point of rectangle 1 of group C in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3314964 Maximum point of rectangle 2 of group C in the first axis 14965 Minimum point of rectangle 2 of group C in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3414968 Maximum point of rectangle 3 of group C in the first axis 14969 Minimum point of rectangle 3 of group C in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3514972 Maximum point of rectangle 4 of group C in the first axis 14973 Minimum point of rectangle 4 of group C in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3614976 Rotation center in the first axis when group-C is rotated 14977 Rotation center in the second axis when group-C is rotated [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3710903 Maximum point of rectangle 1 of group D in the first axis 10904 Minimum point of rectangle 1 of group D in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3810907 Maximum point of rectangle 2 of group D in the first axis 10908 Minimum point of rectangle 2 of group D in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 3910911 Maximum point of rectangle 3 of group D in the first axis 10912 Minimum point of rectangle 3 of group D in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 4010915 Maximum point of rectangle 4 of group D in the first axis 10916 Minimum point of rectangle 4 of group D in the first axis [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first
- Page 4110919 Rotation center in the first axis when group-Dis rotated 10920 Rotation center in the second axis when group-Dis rotated [Input type] Parameter input [Data type] Real [Unit of data] mm, inch(machine unit [Minimum unit of data] Depend on the increment system of the reference axis in the first p
- Page 42Parameter setting examples Parameter setting examples for a lathe system Rotation center Rotation axis B Interference check group A X Z A Interference check group C Interference check group B CNC axis configuration 1st axis X-axis Group A movement axis 2nd axis Z-axis Group A movement axis 3rd axis
- Page 43Settings for the movement and rotation axes Group A movement, 1st axis Z-axis Parameter No. 14910=2 Group A movement, 2nd axis X-axis Parameter No. 14911=1 Group A rotation axis B-axis Parameter No. 14912=5 Group B movement, 1st axis A-axis Parameter No. 14913=6 Reference position return Perform a r
- Page 44Rectangles to make up interference check group A In the state in which the B-axis is positioned at the reference rotation angle and a reference position return is performed on the X- and Z-axes, set the rectangles to make up interference check group A. Interference check group A is represented by th
- Page 45Conduct the same measurement for rectangles 2 and 3 also. Parameter No. 14924 = Rectangle 2 1st axis maximum point distance Parameter No. 14925 = Rectangle 2 1st axis minimum point distance Parameter No. 14926 = Rectangle 2 2nd axis maximum point distance Parameter No. 14927 = Rectangle 2 2nd axis m
- Page 46Machine zero point 2nd axis measurement X 1st axis measurement Interference check group B Z FANUC Series 30i/31i-MODEL A Title Rotation Area Interference Check Draw A-79619E No. Ed. Date Design Description page 46/53 Date Sep.10.’04 Design. Apprv.
- Page 47Parameter No. 14940 = Rectangle 1 1st axis maximum point distance Parameter No. 14941 = Rectangle 1 1st axis minimum point distance Parameter No. 14942 = Rectangle 1 2nd axis maximum point distance Parameter No. 14943 = Rectangle 1 2nd axis minimum point distance Parameter No. 14944 = Rectangle 2 1s
- Page 48Set IB1, bit 0 of parameter No. 14900, to 1. IB1 1: The movement direction on the 1st axis on the group B movement plane is opposite to that on the 1st axis on the group A movement plane. Settings for interference check C group Similarly to interference check group A, measure the data on the rectang
- Page 49Parameter No. 14968 = Rectangle 3 1st axis maximum point distance Parameter No. 14969 = Rectangle 3 1st axis minimum point distance Parameter No. 14970 = Rectangle 3 2nd axis maximum point distance Parameter No. 14971 = Rectangle 3 2nd axis minimum point distance Parameter No. 14972 = Rectangle 4 1s
- Page 50Settings for the movement and rotation axes Group A movement, 1st axis Y-axis Parameter No. 14910=2 Group A movement, 2nd axis Z-axis Parameter No. 14911=3 Group B rotation axis A-axis Parameter No. 14915=5 Reference position return Perform a reference position return on each axis. Positioning of th
- Page 51Taking rectangle 1 as an example, "measure the distances from the machine zero point" to the maximum and minimum points of rectangle 1. 1st axis minimum point distance 1st axis maximum point distance Maximum point Machine zero point 2nd axis minimum point distance Ｙ Minimum point Ｚ Parameter No. 149
- Page 52Settings for interference check group B Similarly to interference check group A, in the state in which the A-axis is positioned at the reference rotation angle, measure the data on the rectangles making up the interference check group and set the measured values in parameters. Measure the distances
- Page 531st axis rotation center point distance 2nd axis rotation center point distance Z Rotation center Y Parameter No. 14956 = 1st axis rotation center about which area B is to rotate Parameter No. 14957 = 2nd axis rotation center about which area B is to rotate Calculation of the amount of overtravel Th