FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 117

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

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  - Relationships with other modal commands 

G41, G42, and G40 (tool radius compensation), G43 and G49 (tool 
length compensation), G51.1 and G50.1 (programmable mirror image), 
and canned cycle commands must have nesting relationships with 
G68.2. 
In other words, first issue G68.2 when the modes mentioned above are 
off, then turn the modes on and off, and then issue G69. 
 

  - Parallel axis control 

When a parking signal is applied to an axis during parallel axis control, 
conversion to a feature coordinate system occurs for another axis if a 
move command is issued for that another axis.  For this reason, an 
axis may move even if a parking signal has been applied to it. 
 

  - Specifiable G codes 

The G codes that can be specified in the tilted working plane 
command mode are listed below. 
Specifying a G code other than these codes results in alarm PS5462. 

•

 Positioning 

(G00) 

•

 

Linear interpolation (G01) 

•

 

Circular interpolation / helical interpolation (G02/G03) 

•

 Dwell 

(G04) 

•

 

Programmable data input (G10) 

•

 

Programmable data input mode cancel (G11) 

•

 

Plane selection (G17/G18/G19) 

•

 

Automatic return to reference position (G28) 

•

 

Movement from reference position (G29) 

•

 

2nd, 3rd and 4th reference position return (G30) 

•

 

Skip function (G31) 

•

 

Tool radius compensation : cancel (G40) 

•

 Tool 

radius 

⋅

 tool nose radius compensation /   

3-dimensional cutter compensation (G41/G42) 

•

 

Tool length compensation + (G43) 

•

 

Tool length compensation - (G44) 

•

 

Tool length compensation cancel (G49) 

•

 

Machine coordinate system setting (G53) 

•

 

Tool axis direction control (G53.1) 

•

 

Macro call (G65) 

•

 

Macro modal call A (G66) 

•

 

Macro modal call B (G66.1) 

•

 

Macro modal call A/B cancel (G67) 

•

 

Absolute programming (G90) 

•

 

Incremental programming (G91) 

•

 

Canned cycle for drilling (G73, G74, G76, G80 to G89) 

•

 

Constant surface speed control (G96) 

•

 

Constant surface speed control cancel (G97) 

•

 

Canned cycle : return to initial level (G98) 

•

 

Canned cycle : return to R point level (G99) 

 

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M

 

•

 

Programmable mirror image (G50.1/G51.1) 

•

 

Coordinate system rotation cancel or 3-dimensional coordinate 
conversion mode off (G69) 

•

 

Feed per minute (G94) 

•

 

Feed per revolution (G94) 

 

T

 

•

 

Coordinate system rotation cancel or 3-dimensional coordinate 
conversion mode off (G69.1) 

•

 

Feed per minute (G98 (G94)) 

•

 

Feed per revolution (G99 (G94)) 

 

  - Modal G codes that allow specification of a tilted working plane command

 

A tilted working plane command can be specified in the modal G code 
states listed below. 
In a modal state other than the following modal G codes, specifying 
the tilted working plane command results in alarm PS5462: 

•

  Modal G codes included in "Specifiable G codes" described 

previously 

 

(However, G43/G44 and G41/G42 are excluded.) 

•

 

Polar coordinate interpolation mode cancel (G13.1) 

•

 

Polar coordinates command cancel (G15) 

•

 

Input in inch (G20 (G70)) 

•

 

Input in mm (G21 (G71)) 

•

 

Stored stroke check function (G22/G23) 

•

 

Scaling cancel (G50) 

•

 

Polygon turning cancel (G50.2) 

•

 

Workpiece coordinate system 1 selection (G54 to G59) 

•

 

Workpiece setting error compensation (G54.4) 

•

 

Exact stop mode (G61) 

•

 

Automatic corner override (G62) 

•

 

Tapping mode (G63) 

•

 

Cutting mode (G64) 

•

 

Inverse time feed (G93) 

•

 

Constant surface speed control cancel (G97) 

 

M

 

•

 

Polar coordinate interpolation mode cancel (G113) 

 

T

 

•

 

Programmable mirror image cancel (G50.1) 

•

 

Mirror image for double turret off/balanced cutting mode cancel 
(G69) 

22.5-AXIS MACHINING FUNCTION

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22.4 

INCLINED ROTARY AXIS CONTROL 

 

Overview 

The conventional tilted working plane command / tool center point 
control function / 3-dimensional cutter compensation / 
three-dimensional manual feed can be used only for those machines 
whose tool rotation axis or table rotation axis is parallel to the basic 
axis of the basic coordinate system.    (See Fig. 22.4 (a)

.) 

Inclined rotary axis control is intended to allow the tilted working 
plane command / tool center point control function / 3-dimensional 
cutter compensation / three-dimensional manual handle feed to be 
applied even when the tool rotation axis or table rotation axis is 
inclined with respect to the X-Z plane, a Y-Z plane or a Z-X plane of 
the machine coordinate system.

 

 

<2>    Table rotation type machine

<3>  Composite type machine

<1>    Tool rotation type machine 

X

Y

Z

B

C

X

Y

Z

A

C

X

C

B

Z

Y

A

C

X

 

Z

Y

B

Y

X

Z

C

X

Y

Z

C

B

   

Fig. 22.4 (a)    Three types of 5-axis machine 

 

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An example of a tool rotation type machine is explained below.    (See 
Fig. 22.4 (b).) 
The machine shown in Fig. 22.4 (b) has rotary axis B (master) that 
turns around the Y-axis and rotary axis C (slave) whose Y-axis is 
inclined at an angle of 45 degrees on the Y-Z plane. 
The tilted working plane command / tool center point control function 
/ 3-dimensional cutter compensation / three-dimensional manual feed 
can be used even for the machine configuration shown in Fig. 22.4 
(b).

 

 

 

B

C

Y

Z

 

X

 

C

 

B

 

 

Fig. 22.4 (b)    Tool rotation type machine 

 
An example of a table rotation type machine is explained below.  
(See Fig. 22.4 (c).) 
The machine shown in Fig. 22.4 (c) has rotary axis B (master) whose 
Y-axis is inclined at an angle of -45 degrees on the Y-Z plane and 
rotary axis C (slave) that turns around the Z-axis. 
The tilted working plane command / tool center point control function 
/ 3-dimensional cutter compensation / three-dimensional manual feed 
can be used even for the machine configuration shown in Fig. 22.4 (c).

 

 

B

C

Z

 

Y

 

X

C

 

B

 

 

Fig. 22.4 (c)    Table rotation type machine 

 

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

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An example of a composite type machine is explained below.    (See 
Fig. 22.4 (d).) 
The machine shown in Fig. 22.4 (d) has table rotation axis B whose 
Y-axis is inclined at an angle of -45 degrees on the Y-Z plane and tool 
rotation axis C that turns around the Z-axis. 
The tilted working plane command / tool center point control function 
/ 3-dimensional cutter compensation / three-dimensional manual feed 
can be used even for the machine configuration shown in Fig. 22.4 
(d). 
 

B

Z

Y

X

A

B

A

 

Fig. 22.4 (d)    Composite type machine 

 

Format and operation 

The operation of the tilted working plane command / tool center point 
control function / 3-dimensional cutter compensation / 
three-dimensional manual feed during the inclined rotary axis control 
is similar to the operation performed when the inclined rotary axis 
control is not in use. 
For details, see the description of each function. 
 

Limitation 

The operation of the tilted working plane command / tool center point 
control function / 3-dimensional cutter compensation / 
three-dimensional manual feed during the inclined rotary axis control 
is similar to the operation performed when the inclined rotary axis 
control is not in use. 
For details, see the description of each function. 
 

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 PROGRAMMING 

22.5-AXIS MACHINING FUNCTION

 

 

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22.5 

3-DIMENSIONAL CUTTER COMPENSATION 

 

Overview 

For machines having multiple rotary axes for freely controlling the 
orientation of a tool axis, this function calculates a tool vector from 
the positions of these rotary axes.  The function then calculates a 
compensation vector in a plane (compensation plane) perpendicular to 
the tool vector and performs 3-dimensional cutter compensation. 
The compensation is performed on the block end point. 
 

22.5-AXIS MACHINING FUNCTION

 PROGRAMMING 

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 - Machine configuration 

This function is applicable to the following machine configurations:

 

<1>  Tool rotation type machine controlled with two tool rotation axes 
<2> Table rotation type machine controlled with two table rotation 

axes 

<3> Composite type machine controlled with one tool rotation axis 

and one table rotation axis 

 

<2> Table rotation type machine

<1> Tool rotation type machine

X

C

B

Z

 

Y

 

A

C

X

Z

 

Y

 

<3> Composite type machine 

B

Y

 

X

Z

 

C

Fig. 22.5 (a)    Three types of machine configuration 

 

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The coordinate system in which to execute a program for 
3-dimensional cutter compensation is called a programming 
coordinate system. 
If, in a 5-axis machine having a table rotation axis, 3-dimensional 
cutter compensation (tool side offset) is to be performed, the table 
coordinate system (coordinate system fixed to the table) can be 
selected as a programming coordinate system. 
Alternatively, the workpiece coordinate system fixed to the machine 
coordinate system can be selected as a programming coordinate 
system. 
There are two types of 3-dimensional cutter compensation (tool side 
offset), which differ in the method of specifying the tool axis 
direction. 
(1) Type 1 

Specify the block end position (for example, A, B, C) of the 
rotation axis.    The CNC performs cutter compensation on the 
plane perpendicular to the tool axis direction calculated from 
the specified position on the rotation axis. 

(2) Type 2 

Instead of specifying a position on the rotation axis, specify the 
tool axis direction (I, J, K) at the block end point as viewed 
from the table coordinate system.    The CNC calculates the end 
position on the rotation axis so that the tool points to the 
specified direction at the end point, and performs cutter 
compensation on the plane perpendicular to the tool axis 
direction calculated from the position on the rotation axis. 

 
By using type 2, it is possible to perform the same machining with the 
same program regardless of the machine configuration of the 5-axis 
machine (tool rotation type, table rotation type, or composite type). 
 

Tool rotation type 

Table rotation type 

Composite type 

Same program 

  O0001 

        : 
  G41.6  D1 
    G01 X100. I1.0 K1.0 F1000 
        : 

 

Fig. 22.5 (b)    Type 2 Program