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FANUC Series 30i-A/31i-A5 Tool Posture Control of Toll Center Point Control for 5-axis Machining Additional Manual Page 6

Additional Manual
Ed.
Apprv.
Person
Page
Name No.
Date
Person
Contents
Date
FANUC Series 30i-A/31i-A5
Tool Posture Control of Toll Center Point Control
for 5-axis Machining
A
-79294E
2004.2.25
6
/
12
FANUC LTD.
2004.4.12
02
The part of (2) is changed.
2004.9.22
03
The function name is updated.
2004.11.16
04
The part of (4) is changed.
2004.12.17
05
The part of (5) is changed.
‘Tool side rotary axis’ and ‘Work-piece side rotary axis’
In this paragraph, ‘Tool side rotary axis’ and ‘Work-piece side rotary axis’ which
are used in the next paragraph are explained.
It is required to take notice of ‘Singularity’ in the case of Tool Center Point
Control Type II.
On a 5-axis machine, one rotary axis tilts the tool against the work-piece. This
rotary axis is called ‘Tool-side rotary axis’, and the other is called ‘Work-piece
side rotary axis’.
According to the mechanical unit type, they are as follows :
Mechanical unit type
(No.19680)
Tool side rotary axis
Work-piece side rotary
axis
Tool rotation type (2) Slave axis Master axis
Table rotation type (12) Master axis Slave axis
Mixed type (21) Tool rotation axis Table rotation type
Singularity, Singular position, Singular posture
A tool posture can be decided by two rotary axes positions. On the contrary, one
pair of two rotary axes positions can not be usually decided by a tool posture.
Here, the tool posture where the Work-piece side rotary axis position can be any,
in other words, the Work-piece side rotary axis position can not be uniquely
decided, is called ‘Singular posture’. And, the position of the Tool side rotary
axis at singular posture is called ‘Singular position(or Singular angle)’.
At singular position, the rotary center of Work-piece side rotary axis is parallel to
the tool posture(tool direction).
Tool rotation type
Table rotation type
Mixed type
Tool side rotar
y
axis
Work-
p
iece side rotar
y
axis
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Contents Summary of FANUC Series 30i-A/31i-A5 Tool Posture Control of Toll Center Point Control for 5-axis Machining Additional Manual

  • Page 1FANUC Series 30i-A/31i-A5 Tool Posture Control of Tool Center Point Control for 5-axis Machining Specifications FANUC Series 30i-A/31i-A5 Name Tool Posture Control of Toll Center Point Control for 5-axis Machining 05 2004.12.17 The part of (5) is changed. 04 2004.11.16 The part of (4) is changed. No
  • Page 2General With Tool Center Point control, the tool center point moves on the commanded path. Here, usually the tool posture(tool direction) is not controlled, because the two rotary axes move independently. (Conventional control) This new fearture 'Tool Posture Control of Tool Center Point control for
  • Page 3Format Tool Posture Control G43.4 IP α β H P ; Tool Center Point control (TYPE1) G43.5 IP H Q P ; Tool Center Point control (TYPE2) IP : In the absolute mode, the end position of Tool Center Point In the incremental mode, the movement value of Tool Center Point α, β : In the absolute mode, the end p
  • Page 4Example : O0010 With Tool posture control, at the blocks … N20 - N80 of the left program O0010, the N10 G90 G00 X30.0 Y-30.0 Z0.0; N20 G43.5 H1 P1; side of the work-piece can be machined. N30 G42.6 D2; The command G42.6 in N30 is for Tool (4) N40 G01 X20.0 Y-20.0 I-1 J1 K2 F_; Radius Compensation fo
  • Page 5V : Actual vector of the tool posture Control point Vs Tool Center Ve Point End point of a block Start point of a block Commanded program Actual Tool Center Point th Plane made by Vs and Ve. The actual vector V lies on this plane. Ve : End vector of Tool Vs : Start vector of Tool length compensation
  • Page 6‘Tool side rotary axis’ and ‘Work-piece side rotary axis’ In this paragraph, ‘Tool side rotary axis’ and ‘Work-piece side rotary axis’ which are used in the next paragraph are explained. It is required to take notice of ‘Singularity’ in the case of Tool Center Point Control Type II. On a 5-axis mach
  • Page 7Example : On a tool rotation type machine which has C axis(master axis around Z axis) and B axis(slave axis around Y axis) and the reference tool direction in Z axis direction, the singular position is B=0,+/-180,,,,deg. Then, the tool posture is the singular posture at C=any-deg. When B=0 (singular
  • Page 8(2) (2) (2) (2) (2) (2) (2) (2) (2) (2) (2) (2) (2) (2) C-axis rotates very rapidly and So, the rapid and large C-axis rotation (2) largely near Singular posture. should be avoided by travelling just (2) through Singular posture. (2) To travel the Singular posture, the end (2) point is modified with
  • Page 9When this angle is less than Parameter No.19738, Tool posture is regarded as ‘near Singular posture’. Singular posture Tool posture Fig.6 : Tool posture near Singular posture When the tool posture can be near Singular posture in a block, the rotary axes positions at the block end, which are calculat
  • Page 10Note In the case that the vectors of Tool length compensation at start/end of a block are the same. In the case that the vectors of Tool length compensation at start and end of a block are the same(same direction or reverse direction), Tool Posture Control does not work and Conventional control work
  • Page 11Parameter #7 #6 #5 #4 #3 #2 #1 #0 19604 TPC [Input type] Setting input [Data type] Bit path #0 TPC In the case that there is no address P at the start of Tool center point control for 5-axis machining (G43.4/G43.5), 0 : Tool posture control does not work. 1 : Tool posture control works. #7 #6 #5 #4
  • Page 1219739 Angle to decide that the tool posture at block end is not changed [Input type] Parameter input [Data type] Real path [Unit of data] degree [Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table(A)) (When the increment system is IS-B, -999999.999～+999999.9