FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 112

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

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- Composite type machine
Basic

operation

This function is also available for a composite type machine in which
the tool head rotates on the tool rotation axis and the table rotates on
the table rotation axis.
The feature coordinate system Xc-Yc-Zc is set in the workpiece
coordinate system based on the coordinate system origin shift (xo, yo,
zo) and the Euler's angle.
Given the A-axis and B-axis shown in Fig. 22.3 (j), control is
performed in such a way that the A-axis rotates until Zc comes in the
X-Z plane and the B-axis is controlled so that the tool axis is oriented
toward the +Z-axis direction of the feature coordinate system.

(xo, yo, zo)

Xc'

Yc'

Zc'

•

Tool axis direction control for a composite type machine

Fig. 22.3 (j) Composite type machine

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PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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- Feature coordinate system with the table rotated by G53.1 (tool axis direction

control)

The composite type machine shown in Fig. 22.3 (j) is explained as an
example.
If the table rotates by the tool axis direction control command (G53.1),
the feature coordinate system (called the first feature coordinate
system), which is set in the workpiece coordinate system by the tilted
working plane command (G68.2), rotates as much as the table rotates.
The feature coordinate system that has rotated is called the second
feature coordinate system.
Once G53.1 is specified, the subsequent machining commands are
assumed to be specified in the second feature coordinate system.
(See Fig. 22.3 (k).)
In the composite type machine, the specified feature coordinate
system (the first feature coordinate system) may differ from the
feature coordinate system to be used for machining (the second feature
coordinate system).

Xc'

Yc'

Zc'

•

G53.1 command

Xc'

Yc'

Zc'

G01 Y10.0 F1000

command after G53.1

Second feature coordinate

system

Xc'-Yc'-Zc'

Second feature coordinate

system

Xc'-Yc'-Zc'

Fig. 22.3 (k) Resetting of the feature coordinate system

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

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- Rotation direction of the table rotation axis

The composite type machine shown in Fig. 22.3 (j) is explained as an
example.
Set parameter No.19684 to 1 if the rotation direction of the rotation
table corresponding to the positive-direction move command is
clockwise when viewed from the positive direction of the rotation
center axis on which the table rotation axis rotates. If the rotation
direction is counterclockwise, set parameter No.19684 to 0.
Let's take sample program 4 of O400 as an example, where the
movement of the table is specified by G53.1.
If parameter No.19684 is set to 1, control is performed in such a way
that the table is rotated to A-45.0.
If parameter No.19684 is set to 0, control is performed in such a way
that the table is rotated to A45.0.
Example)

O400 (Sample Program4) ;
N1 G68.2 X100.0 Y100.0 Z0 I180.0 J45.0 K0 ;
N2 G53.1 ;
N3 . . . ;

CCW CW

Rotation to A-45.0

CCW

Rotation to A45.0

CCW

Positive rotation direction when
parameter No.19684 = 0

Positive rotation direction when
parameter No.19684

= 1

G53.1 command

Fig. 22.3 (l) Rotation direction of the table rotation axis

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PROGRAMMING

22.5-AXIS MACHINING FUNCTION

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- Table rotation type machine
Basic

operation

This function is also usable for a table rotation type machine with two
table rotation axes.
The feature coordinate system Xc-Yc-Zc is set in the workpiece
coordinate system based on the coordinate system origin shift (xo, yo,
zo) and the Euler's angle.
Given the A-axis and C-axis shown in Fig. 22.3 (m), the A-axis and
C-axis rotate until Zc comes in the X-Z plane and the tool axis is
directed toward the +Z-axis direction of the feature coordinate system.

Yc'

Xc'

•

Tool axis direction control for a table rotation type machine

Zc'

Fig. 22.3 (m) Table rotation type machine

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

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- Feature coordinate system with the table rotated by G53.1 (tool axis direction

control)

The table rotation type machine shown in Fig. 22.3 (m) is explained as
an example.
If the table rotates by the tool axis direction control command (G53.1),
the feature coordinate system (called the first feature coordinate
system), which is set in the workpiece coordinate system by the tilted
working plane command (G68.2), rotates as much as the table rotates.
The feature coordinate system that has rotated is called the second
feature coordinate system.
Once G53.1 is specified, the subsequent machining commands are
assumed to be specified in the second feature coordinate system.
(See Fig. 22.3 (n).)
In the table rotation type machine, the specified feature coordinate
system (the first feature coordinate system) may differ from the
feature coordinate system to be used for machining (the second feature
coordinate system).

•

G53.1 command

G01 X10.0 F1000

command after G53.1

Yc'

Xc'

Zc'

Yc'

Xc'

Zc'

Second feature coordinate

system

Xc'-Yc'-Zc'

Second feature coordinate

system

Xc'-Yc'-Zc'

Fig. 22.3 (n) Resetting of the feature coordinate system

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22.5-AXIS MACHINING FUNCTION

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- Angle of the rotary axis

When tool axis direction control (G53.1) has been performed, more
than two pairs of "computed angles" of the rotary axes usually exist.
The "computed angle" is the candidate angle at which the rotary axis
is to be controlled in the tool axis direction specified by G53.1.
The "output angle" is determined from the "computed angle" based on
the "output judgment conditions" described below.
When the upper and lower limits of the movement range of rotary
axes are specified by parameters No. 19741 to No. 19744 at this time,
a calculated angle that makes the two axes fall within the movement
range is selected.

"Output judgment conditions"

Tool rotation type or table rotation type machine

<1> The "output angles" are represented by the computed rotary axis angle

pair whose master axis (first rotary axis) moving angle is smaller.

↓

When the master axis moving angle is the same

↓

<2> The "output angles" are represented by the computed rotary axis angle

pair whose slave axis (second rotary axis) moving angle is smaller.

↓

When the slave axis moving angle is the same

↓

<3> The "output angles" are represented by the computed rotary axis angle

pair whose master axis (first rotary axis) angle is nearer to 0 degree
(multiple of 360 degrees).

↓

When the master axis angle is equally near to 0 degree

↓

<4> The "output angles" are represented by the computed rotary axis angle

pair whose slave axis (second rotary axis) angle is nearer to 0 degree
(multiple of 360 degrees).

Composite type machine

<1> The "output angles" are represented by the computed rotary axis angle

pair whose table (second rotary axis) moving angle is smaller.

↓

When the table moving angle is the same

↓

<2> The "output angles" are represented by the computed rotary axis angle

pair whose tool (first rotary axis) moving angle is smaller.

↓

When the tool moving angle is the same

↓

<3> The "output angles" are represented by the computed rotary axis angle

pair whose table (second rotary axis) angle is nearer to 0 degree (multiple
of 360 degrees).

↓

When the master axis angle is equally near to 0 degree

↓

<4> The "output angles" are represented by the computed rotary axis angle

pair whose tool (first rotary axis) angle is nearer to 0 degree (multiple of
360 degrees).

22.5-AXIS MACHINING FUNCTION

PROGRAMMING

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The process of judging whether the moving angle is smaller or larger
as the output judgement condition is called "movement judgement."

The "movement judgement" process is explained below.
When the "computed angle" is within the range between 0 and 360
degrees, it is called the "basic computed angle."
Usually, two pairs of "basic computed angles" exist.
For example, assume that the machine has rotary axis A (master) and
rotary axis B (slave) and that there are two pairs of basic computed
angles as follows:
(A

1 degree; B

1 degree)

2 degrees; B

2 degrees) where

≤

2 and

≤

The "computed angle" is obtained from either of the following
expressions: "basic computed angle" + 360 degrees

N or "basic

computed angle" - 360 degrees

The current position of rotary axis A (master) is PA, and that of rotary
axis B (slave) is 0 degree.
Based on the PA angle, the "movement judgement" process is done as
follows.

•

Computed angle A

-360

(N + 1) degrees

1 - 360

-360

N degrees

2 - 360

(N + 1)

1 - 360

(N - 1)

(*1)

0 degree

360 degrees

2 - 360

1 + 360

(*2)

360

(N + 1) degrees

1 + 360

360

N degrees

2 + 360

(N - 1)

1 + 360

(N + 1)

(*3)

"Movement judgment"

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When the PA angle is (*1):
The output angle is: (A

2 - 360 × (N + 1) degrees; B

2 degrees).

Namely,

2 - 360 × (N + 1) degrees is adopted that is nearer to the

computed angle of A, and

2, which is the same group as

2, is

adopted as the computed angle of B.

When the PA angle is (*2):
The output angle is: (A

1 degrees; B

1 degrees).

Namely,

1 degrees is adopted that is nearer to the computed angle of

A, and

1, which is the same group as

1, is adopted as the computed

angle of B.

When the PA angle is (*3):
The output angle is: (A

2 + 360 × N degrees; B

2 degrees).

Namely,

2 + 360 × N degrees is adopted that is nearer to the

computed angle of A, and

2, which is the same group as

2. is

adopted as the computed angle of B.

When the moving angle of rotary axis A (master) is the same, a
"movement judgement" is made for rotary axis B (slave) according to
the "output judgment conditions."
If the "output angle" of rotary axis A is determined by the "movement
judgement" for rotary axis A, the computed angle representing the
"smaller moving angle" is adopted as the "output angle" of rotary axis
B.
Similarly, if the "output angle" of rotary axis B is determined by the
"movement judgement" for rotary axis B, the computed angle
representing the "smaller moving angle" is adopted as the "output
angle" of rotary axis A.

CAUTION

1 To use the rotary axis roll-over function, set

parameter No. 1260 (amount of rotary axis
movement per rotation) to 360 degrees.

2 A stroke limit before movement is applied to the

rotary axis subject to tool axis direction control.

3 If the setting of the lower limit (parameters No.

19742 and No. 19744) is greater than that of the
upper limit (parameters No. 19741 and No. 19743),
alarm PS5459 is issued.

4 If there is no calculated angle that falls within the

movement range because the movement range is
too small, alarm PS5459 is issued.

5 When the parameters that specify the upper limit

and lower limit of the movement range are set to 0,
no movement range is assumed to be specified.

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