FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 135

3.MANUAL OPERATION

OPERATION

B-63944EN/03

- 1036 -

3.4

MANUAL HANDLE FEED

In the handle mode, the tool can be minutely moved by rotating the
manual pulse generator on the machine operator's panel. Select the
axis along which the tool is to be moved with the handle feed axis
selection switches.
The minimum distance the tool is moved when the manual pulse
generator is rotated by one graduation is equal to the least input
increment. One of four types of magnifiers selected with the manual
handle feed move distance select signal can be applied. With bit 2
(HNT) of parameter No. 7103, the minimum distance can be further
10 times greater.
The number of manual pulse generators depends on the option as
follows:

•

Control on 1 manual handle: Up to 1

•

Control on 2 or 3 manual handles:

Up to 3 (Up to three manual pulse generators can be moved at a
time.)

•

Control on 2 to 5 manual handles:

Up to 5 (Up to five manual pulse generators can be moved at a
time.)

Manual pulse generator

Fig. 3.4 (a) Manual handle feed

Procedure for manual handle feed

Procedure

Press the handle switch, one of the mode selection switches.

Select the axis along which the tool is to be moved by pressing a
handle feed axis selection switch.

Select the magnification for the distance the tool is to be moved
by pressing a handle feed magnification switch. The minimum
distance the tool is moved when the manual pulse generator is
rotated by one graduation is equal to the least input increment.

4 Move the tool along the selected axis by rotating the handle.

Rotating the handle 360 degrees moves the tool the distance
equivalent to 100 graduations.

The above is an example. Refer to the appropriate manual provided by
the machine tool builder for the actual operations.

B-63944EN/03

OPERATION

3.MANUAL OPERATION

- 1037 -

Explanation
- Availability of manual pulse generator in Jog mode (JHD)

Bit 0 (JHD) of parameter No.7100 enables or disables the manual
handle feed in the JOG mode.
When bit 0 (JHD) of parameter No.7100 is set 1,both manual handle
feed and incremental feed are enabled.

- Manual handle feed in TEACH IN JOG mode (THD)

By setting bit 1 (THD) of parameter No. 7100, manual handle feed in
TEACH IN JOG mode can be enabled or disabled.

- When manual handle feed exceeding the rapid traverse rate is specified

The amount of pulses exceeding the rapid traverse rate can be saved
by CNC as B. And amount of pulses B will be output as pulses C.

ｔ

Rapid
traverse
rate

A: Amount of pulses corresponds to value of

Rapid Traverse Rate.

B: Amount of pulses accumulated in CNC.
C: Amount of pulses the same as B.

Fig. 3.4 (b) Amount of pulses output by CNC in Manual Handle Feed

Amount of pulses B is calculated in 2 cases as following:

In case of
1) Parameter No.7117 = 0

The feedrate is clamped at the Rapid Traverse Rate and
generated pulses exceeding the Rapid Traverse Rate are
ignored (B=0).

In case of
2) Parameter No.7117 > 0

The feedrate is clamped as the Rapid Traverse Rate, but the
pulses exceeding the Rapid Traverse Rate is not ignored. Amount
of pulses accumulated in CNC is calculated as following.
(Although the rotation of manual pulse generator is stopped, if
there is pulses accumulated in CNC, it will be output and the tool
will move as long as amount of it.)

Magnification set by MP1

，

MP2<Gn019.4,5> is m, value of

parameter No.7117 is n.

n < m: Clamping is set performed at value of parameter
No.7117.

3.MANUAL OPERATION

OPERATION

B-63944EN/03

- 1038 -

≥

m: Amount A+B, shown in figure, which’s value is

multiple of m and small than n. As a result, clamping is
performed as an integral multiple of the selected
magnification.

ｍ

Pulses over (k

⋅

m) will be ignored

A: Amount of pulses the same

as Rapid Traverse Rate.

B: Amount of pulses saved in

CNC.

k : Integer number

＋

B=k

⋅

Fig. 3.4 (c) Amount of pulses exceeding the Rapid Traverse Rate

≥

NOTE

Due to change of mode, clamping can be
performed not as an integral multiple of the
selected magnification.

The distance the tool moves may not match the
graduations on the manual pulse generator.

- Upper feedrate limit in manual handle feed

The upper feedrate limit depends on the input signal (maximum
manual handle feedrate switch signal HNDLF) from the PMC as
follows:

•

When HNDLF is set to 0, the feedrate is clamped to the manual
rapid traverse rate (parameter No. 1424).

•

When HNDLF is set to 1, the feedrate is clamped to the feedrate
set in parameter No. 1434.

- Movement direction of an axis to the rotation of MPG (HNGx)

Bit 0 (HNGx) of parameter No 7102 switches the direction of MPG in
which the tool moves along an axis, corresponding to the direction in
which the handle of the manual pulse generator is rotated.

This parameter is valid only for the following functions:

•

Manual handle feed

•

Manual handle interruption

Limitation

WARNING

Rotating the handle quickly with a large
magnification such as

100 moves the tool too fast.

The feedrate is clamped at the rapid traverse
feedrate.

B-63944EN/03

OPERATION

3.MANUAL OPERATION

- 1039 -

NOTE

Rotate the manual pulse generator at a rate of five
rotations per second or lower. If the manual pulse
generator is rotated at a rate higher than five
rotations per second, the tool may not stop
immediately after the handle is no longer rotated or
the distance the tool moves may not match the
graduations on the manual pulse generator.

3.MANUAL OPERATION

OPERATION

B-63944EN/03

- 1040 -

3.5

MANUAL ABSOLUTE ON AND OFF

Whether the distance the tool is moved by manual operation is added
to the coordinates can be selected by turning the manual absolute
switch on or off on the machine operator's panel. When the switch is
turned on, the distance the tool is moved by manual operation is added
to the coordinates. When the switch is turned off, the distance the tool
is moved by manual operation is not added to the coordinates.

Y axis

X axis

Manual operation

The coordinates values change by the
amount of manual operation.

Fig. 3.5 (a) Coordinates with the switch ON

The coordinates do not change.

Fig. 3.5 (b) Coordinates with the switch OFF

B-63944EN/03

OPERATION

3.MANUAL OPERATION

- 1041 -

Explanation

The following describes the relation between manual operation and
coordinates when the manual absolute switch is turned on or off, using
a program example.

G01G90 X100.0Y100.0F010 ;

<1>

X200.0Y150.0

;

<2>

X300.0Y200.0

;

<3>

Fig. 3.5 (c) Program example

The subsequent figures use the following notation:
            Movement of the tool when the switch is on
            Movement of the tool when the switch is off
The coordinates after manual operation include the distance the tool is
moved by the manual operation.    When the switch is off, therefore,
subtract the distance the tool is moved by the manual operation.

- Manual operation after the end of block

Coordinates when block <1> has been executed after manual
operation (X-axis +20.0, Y-axis +100.0) at the end of movement of
block <2>.

Switch ON

Switch OFF
Manual
operation

(100.0 , 100.0)

(200.0 , 150.0)

(120.0 , 200.0)

(220.0 , 250.0)

Fig. 3.5 (d) Manual operation after the end of block

- Manual operation after a feed hold

Coordinates when the feed hold button is pressed while block <2> is
being executed, manual operation (Y-axis + 75.0) is performed, and
the cycle start button is pressed and released.

Switch ON

Switch OFF
Manual
operation

(150.0 , 125.0)

(200.0 , 150.0)

(150.0 , 200.0)

(200.0 , 225.0)

(300.0 , 275.0)

(300.0 , 200.0)

Feed hold stop point

Fig. 3.5 (e) Manual operation after a feed hold

3.MANUAL OPERATION

OPERATION

B-63944EN/03

- 1042 -

- When reset after a manual operation following a feed hold

Coordinates when the feed hold button is pressed while block <2> is
being executed, manual operation (Y-axis +75.0) is performed, the
control unit is reset with the RESET button, and block <2> is read
again.

Switch ON

Switch OFF
Manual
operation

(150.0 , 125.0)

(200.0 , 150.0)

(150.0 , 200.0)

(200.0 , 225.0)

(300.0 , 275.0)

(300.0 , 200.0)

Feed hold stop point

Fig. 3.5 (f) When reset after a manual operation following a feed hold

- When a movement command in the next block is only one axis

When there is only one axis in the following command, only the
commanded axis returns.

Program
N1 G90 G01 X100. Y100. F500 ;
N2 X200.0 ;
N3 Y150.0 ;

Switch ON

Switch OFF
Manual
operation

(100.0 , 100.0)

(200.0 , 150.0)

(200.0 , 100.0)

Fig. 3.5 (g) When a movement command in the next block is only one

axis

- When the next move block is an incremental

When the following commands are incremental commands, operation
is the same as when the switch is OFF.

B-63944EN/03

OPERATION

3.MANUAL OPERATION

- 1043 -

- Manual operation during cutter or tool nose radius compensation

•

When the switch is OFF

After manual operation is performed with the switch OFF during
cutter or tool nose radius compensation, automatic operation is
restarted then the tool moves parallel to the movement that would
have been performed if manual movement had not been
performed.

The amount of separation equals to the amount that was
performed manually.

•

When the switch is ON during cutter or tool nose radius

compensation

Operation of the machine upon return to automatic operation
after manual intervention with the switch is ON during execution
with an absolute command program in the cutter or tool nose
radius compensation mode will be described. The vector created
from the remaining part of the current block and the beginning of
the next block is shifted in parallel. A new vector is created
based on the next block, the block following the next block and
the amount of manual movement. This also applies when manual
operation is performed during cornering.

•

Manual operation performed in other than cornering

Assume that the feed hold was applied at point P

while moving

from P

to P

of programmed path P

, P

, and P

and that the

tool was manually moved to PH'. The block end point P

moves

to the point P

' by the amount of manual movement, and vectors

and V

at P

also move to V

' and V

'. Vectors V

and

between the next two blocks P

- P

and P

- P

are

discarded and new vectors V

' and V

' (V

' = V

in this

example) are produced from the relation between P

' - P

and P

- P

. However, since V

' is not a newly calculated vector,

correct offset is not performed at block P

' - P

. Offset is

correctly performed after P

Content .. 133 134 135 136 ..