fanuc 15 B, 150 B User Manual

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FANUC Series 15/150-Model B

for Machining Center

DESCRIPTIONS

B-62082E/04

• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.

The export of this product is subject to the authorization of the government of the country from where the product is exported.

In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”.

This manual contains the program names or device names of other companies, some of which are registered trademarks of respective owners. However, these names are not followed by  or  in the main body.

B–62082E/04

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into W arning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a damage of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and Caution.

 Read this manual carefully, and store it in a safe place.

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B–62082E/04

Series 15

PREFACE

The models covered by this manual, and their abbreviations are :

Product Name Abbreviations

FANUC Series 15–MB 15–MB FANUC Series 15–MFB 15–MFB FANUC Series 15MEK–MODEL B–4 (*) 15MEK FANUC Series 15MEL–MODEL B–4 (*) 15MEL FANUC Series 150–MB 150–MB Series 150

(*)The FANUC Series 15MEK/MEL–MODEL B–4 is a software–fixed

CNC capable of 4 contouring axes switchable out of 8 axes for milling machines and machining centers. Further the following functions can not be used in the 15MEK or 15MEL.

D Increment system D/E (Increment system C is an option function) D Helical interpolation B D Plane switching D Designation direction tool length compensation D 2 axes electric gear box D Manual interruption of 3–dimensional coordinate system

conversion

D 3–dimensional cutter compensation D Trouble diagnosis guidance D OSI/ETHERNET function D High–precision contour control using RISC D Macro compiler (self compile function) D MMC–III, MMC–IV D Smooth interpolation D Connecting for personal computer by high–speed serial–bus

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PREFACE

B–62082E/04

Manuals related to Series 15/150–MODEL B

Manuals related to FANUC Series 15/150–MODEL B are as follows. This manual is marked with an asterisk (*).

List of Manuals Related to Series 15/150–MODEL B

Manual Name

FANUC Series 15–TB/TFB/TTB/TTFB DESCRIPTIONS B–62072E FANUC Series 15/150–MODEL B For Machining Center DESCRIPTIONS B–62082E * FANUC Series 15/150–MODEL B CONNECTION MANUAL B–62073E FANUC Series 15/150–MODEL B CONNECTION MANUAL (BMI Interface) B–62073E–1 FANUC Series 15–MODEL B For Lathe OPERATOR’S MANUAL (Programming) B–62554E FANUC Series 15–MODEL B For Lathe OPERATOR’S MANUAL (Operation) B–62554E–1 FANUC Series 15/150–MODEL B For Machining Center OPERATOR’S MANUAL (Programming) B–62564E FANUC Series 15/150–MODEL B For Machining Center OPERATOR’S MANUAL (Operation) B–62564E–1 FANUC Series 15/150–MODEL B PARAMETER MANUAL B–62560E FANUC Series 15/150–MODEL B MAINTENANCE MANUAL B–62075E FANUC Series 15–MODEL B DESCRIPTIONS (Supplement for Remote Buffer) B–62072E–1 FANUC Series 15–MODEL B PROGRAMMING MANUAL (Macro Compiler / Macro Executer) B–62073E–2

PMC

FANUC PMC–MODEL N/NA PROGRAMMING MANUAL (Ladder Language) B–61013E FANUC PMC–MODEL NB/NB2 PROGRAMMING MANUAL (Ladder Language) B–61863E FANUC PMC–MODEL N/NA PROGRAMMING MANUAL (C Language) B–61013E–2 FANUC PMC–MODEL NB PROGRAMMING MANUAL (C Language) B–61863E–1 FANUC PMC–MODEL N/NA

PROGRAMMING MANUAL (C Language – Tool Management Library)

Conversational Automatic Programming Function

CONVERSATIONAL AUTOMATIC PROGRAMMING FUNCTION FOR MACHINING CENTER (Series 15–MF/MFB) PROGRAMMING MANUAL

CONVERSATIONAL AUTOMATIC PROGRAMMING FUNCTION FOR MACHINING CENTER (Series 15–MF/MFB) OPERATOR’S MANUAL

CONVERSATIONAL AUTOMATIC PROGRAMMING FUNCTION FOR LATHE (Series 15–TF/TTF/TFB/TTFB) OPERATOR’S MANUAL

CONVERSATIONAL AUTOMATIC PROGRAMMING FUNCTION II FOR LATHE (Series 15–TFB/TTFB) OPERATOR’S MANUAL

Tracing / Digitizing

FANUC Series 15–MB DESCRIPTIONS (Supplement for Tracing / Digitizing) B–62472E FANUC Series 15–MB CONNECTION MANUAL (Supplement for Tracing / Digitizing) B–62473E FANUC Series 15–MB OPERATOR’S MANUAL (Supplement for Tracing / Digitizing) B–62474E

Gas, Laser Plasma Cutting Machine

FANUC Series 15–MB DESCRIPTIONS (FOR GAS, LASER, PLASMA CUTTING MACHINE) B–62082EN–1

Multi–T eaching Function

FANUC Series 15–MB CONNECTION MANUAL (Multi–Teaching Function) B–62083E–1

Multiple–axis and Multiple–path Control Function

FANUC Series 15–TTB OPERATOR’S MANUAL (Supplement Explanations for Multiple–axis and Multiple–path Control Function)

Specification

Number

B–61013E–4

B–61263E

B–61264E

B–61234E

B–61804E–2

B–62074E–1

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B–62082E/04

DEFINITION OF WARNING, CAUTION, AND NOTE s–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PREFACE p–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I. GENERAL

1. GENERAL 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. LIST OF SPECIFICATIONS 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

II. NC FUNCTIONS

1. CONTROLLED AXES 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 BASIC CONTROLLED AXES 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 CONTROLLABLE AXES EXPANSION 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 BASIC SIMULTANEOUSLY CONTROLLABLE AXES 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 SIMULTANEOUSLY CONTROLLABLE AXES EXP ANSION 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 NAME OF AXES 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 PROGRAMMING AXIS NAME ADDITION 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 INCREMENT SYSTEM 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8 MAXIMUM STROKE 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. PREPARATORY FUNCTIONS 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. INTERPOLATION FUNCTIONS 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 POSITIONING (G00) 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 SINGLE DIRECTION POSITIONING (G60) 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 LINEAR INTERPOLATION 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 CIRCULAR INTERPOLATION (G02, G03) 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 3–DIMENSIONAL CIRCULAR INTERPOLATION FUNCTION 36. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 HELICAL INTERPOLATION (G02, G03) 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 HELICAL INTERPOLATION B (G02, G03) 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8 HYPOTHETICAL AXIS INTERPOLATION (G07) 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9 POLAR COORDINATE INTERPOLA TION (G12.1, G13.1) 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.10 CYLINDRICAL INTERPOLATION (G07.1) 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11 EXPONENTIAL FUNCTION INTERPOLATION (G02.3, G03.3) 45. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12 CIRCULAR THREADING B (G02.1, G03.1) 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13 INVOLUTE INTERPOLATION 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.14 HELICAL INVOLUTE INTERPOLATION 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.15 SPLINE INTERPOLATION 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.16 SPIRAL INTERPOLATION AND CONICAL INTERPOLATION 51. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.17 SMOOTH INTERPOLATION FUNCTION 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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B–62082E/04

4. THREAD CUTTING 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 EQUAL LEAD THREAD CUTTING (G33) 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 INCH THREAD CUTTING (G33) 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 CONTINUOUS THREAD CUTTING 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. FEED FUNCTIONS 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 RAPID TRAVERSE 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 CUTTING FEEDRATE 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Tangential Speed Constant Control 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Cutting Feedrate Clamp 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Per Minute Feed (G94) 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Per Revolution Feed (G95) 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Inverse Time Feed (G93) 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 F1–digit Feed 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 OVERRIDE 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Feedrate Override 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Second Feedrate Override 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Second Feedrate Override B 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Rapid Traverse Override 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.5 Function for Overriding the Rapid Traverse Feedrate in 1% Unit 62. . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Override Cancel 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 AUTOMATIC ACCELERATION/DECELERA TION 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 LINEAR ACCELERATION/DECELERA TION AFTER CUTTING FEED INTERPOLATION 64. . . .

5.6 BELL–SHAPED ACCELERATION/DECELERATION

AFTER CUTTING FEED INTERPOLATION 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 ACCELERATION/DECELERA TION BEFORE CUTTING FEED 66. . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 ACCELERA TION/DECELERATION BEFORE PRE–READ INTERPOLATION 67. . . . . . . . . . . . . .

5.9 BELL–SHAPED ACCELERATION/DECELERATION

AFTER RAPID TRAVERSE INTERPOLATION 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 CUTTING POINT SPEED CONTROL FUNCTION 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 ACCELERATION/DECELERATION FUNCTION FOR THE CONSTANT SPEED

SPECIFIED BY THE PMC AXIS CONTROL FUNCTION 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.12 EXACT STOP (G09) 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.13 CUTTING/RAPID TRAVERSE POSITION CHECK FUNCTION 68. . . . . . . . . . . . . . . . . . . . . . . . . . .

5.14 EXACT STOP MODE (G61) 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.15 CUTTING MODE (G64) 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.16 TAPPING MODE (G63) 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.17 AUTOMATIC CORNER OVERRIDE (G62) 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.18 DWELL (G04) 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.19 FEED PER ROTA TION WITHOUT A POSITION CODER 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. REFERENCE POSITION 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 MANUAL REFERENCE POSITION RETURN 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 AUTOMATIC REFERENCE POSITION RETURN (G28, G29) 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 REFERENCE POSITION RETURN CHECK (G27) 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 2ND, 3RD AND 4TH REFERENCE POINT RETURN (G30) 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 FLOATING REFERENCE POSITION RETURN (G30.1) 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 REFERENCE POSITION AUTOMATIC SETTING FUNCTION 75. . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 DOG–LESS REFERENCE POSITION SETTING FUNCTION 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7. COORDINATE SYSTEMS 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 MACHINE COORDINATE SYSTEM (G53) 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 WORKPIECE COORDINATE SYSTEM (G54 TO G59) 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 LOCAL COORDINATE SYSTEM (G52) 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 WORKPIECE COORDINATES SYSTEM CHANGE (G92) 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 WORKPIECE ORIGIN OFFSET VALUE CHANGE

(PROGRAMMABLE DATA INPUT) (G10) 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6 ADDITIONAL WORKPIECE COORDINATE SYSTEMS (G54.1) 81. . . . . . . . . . . . . . . . . . . . . . . . . .

7.7 WORKPIECE COORDINATE SYSTEM PRESET (G92.1) 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.8 PLANE SWITCHING FUNCTION 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8. COORDINATE VALUE AND DIMENSION 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 ABSOLUTE AND INCREMENTAL PROGRAMMING (G90, G91) 85. . . . . . . . . . . . . . . . . . . . . . . . .

8.2 POLAR COORDINATE COMMAND (G15, G16) 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 INCH/METRIC CONVERSION (G20, G21) 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 DECIMAL POINT INPUT/POCKET CALCULATOR TYPE DECIMAL POINT INPUT 87. . . . . . . .

8.5 DIAMETER AND RADIUS PROGRAMMING 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6 FUNCTION FOR SWITCHING BETWEEN DIAMETER AND RADIUS PROGRAMMING 87. . . .

9. SPINDLE FUNCTIONS 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 S CODE OUTPUT 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 SPINDLE SPEED BINARY CODE OUTPUT 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 SPINDLE SPEED ANALOG OUTPUT 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 CONSTANT SURFACE SPEED CONTROL (G96, G97) 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5 SPINDLE SPEED CLAMP (G92) 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.6 ACTUAL SPINDLE SPEED OUTPUT 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 SPINDLE POSITIONING 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8 SPINDLE SPEED FLUCTUATION DETECTION (G25, G26) 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10. TOOL FUNCTIONS 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 T CODE OUTPUT 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 TOOL LIFE MANAGEMENT 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11. MISCELLANEOUS FUNCTIONS 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1 MISCELLANEOUS FUNCTIONS 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.2 SECOND MISCELLANEOUS FUNCTIONS 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 HIGH–SPEED M/S/T/B INTERFACE 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.4 1–BLOCK PLURAL M COMMAND 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12. PROGRAM CONFIGURATION 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1 PROGRAM NUMBER 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2 PROGRAM NAME 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3 PROGRAM NAME (48 CHARACTERS) 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4 MAIN PROGRAM 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.5 SUB PROGRAM 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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12.6 SEQUENCE NUMBER 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.7 TAPE CODES 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.8 BASIC ADDRESSES AND COMMAND VALUE RANGE 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.9 COMMAND FORMAT 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.10 LABEL SKIP 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.11 CONTROL–IN/CONTROL–OUT 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.12 OPTIONAL BLOCK SKIP 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.13 ADDITIONAL OPTIONAL BLOCK SKIP 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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13. FUNCTIONS TO SIMPLIFY PROGRAMMING 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.1 CANNED CYCLES(G73, G74, G76, G80–G89, G98, G99) 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2 RIGID TAPPING (G84.2, G84.3) 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.3 EXTERNAL OPERATION FUNCTION (G80, G81) 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4 OPTIONAL ANGLE CORNER ROUNDING 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5 OPTIONAL ANGLE CHAMFERING 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.6 CIRCULAR INTERPOLATION BY RADIUS PROGRAMMING 112. . . . . . . . . . . . . . . . . . . . . . . . . .

13.7 PROGRAMMABLE MIRROR IMAGE (G50.1, G51.1) 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.8 INDEX TABLE INDEXING 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.9 FIGURE COPYING (G72.1, G72.2) 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.10 CIRCLE CUTTING FUNCTION 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14. COMPENSATION FUNCTIONS 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.1 TOOL LENGTH COMPENSATION (G43, G44, G49) 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.2 TOOL OFFSET (G45, G46, G47, G48) 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3 CUTTER COMPENSATION 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.1 Cutter Compensation B (G40 – 42) 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.2 Cutter Compensation C (G40 – G42) 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4 3–DIMENSIONAL TOOL COMPENSATION (G40, G41) 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.5 TOOL OFFSET BY TOOL NUMBER 124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.6 TOOL COMPENSATION MEMORY 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.6.1 Tool Compensation Memory A 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.6.2 Tool Compensation Memory B 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.6.3 Tool Compensation Memory C 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.7 NUMBER OF TOOL OFFSETS 128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.8 CHANGING OF TOOL OFFSET AMOUNT (PROGRAMMABLE DATA INPUT) (G10) 128. . . . . .

14.9 ROTARY TABLE DYNAMIC FIXTURE OFFSET 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.10 THREE–DIMENSIONAL CUTTER COMPENSATION 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.11 DESIGNATION DIRECTION TOOL LENGTH COMPENSATION 131. . . . . . . . . . . . . . . . . . . . . . . .

15. ACCURACY COMPENSATION FUNCTION 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1 STORED PITCH ERROR COMPENSATION 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.2 INTERPOLATION TYPE PITCH ERROR COMPENSATION 133. . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.3 THE SECOND CYLINDRICAL PITCH ERROR COMPENSATION METHOD 134. . . . . . . . . . . . . .

15.4 INCLINATION COMPENSATION 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.5 STRAIGHTNESS COMPENSATION 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.6 BACKLASH COMPENSATION 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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15.7 PROGRAMMABLE PARAMETER ENTRY (G10, G11) 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.8 INTERPOLATION–TYPE STRAIGHTNESS COMPENSATION 137. . . . . . . . . . . . . . . . . . . . . . . . . .

15.9 STRAIGHTNESS COMPENSATION A T 128–POINT 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.10 BI–DIRECTIONAL PITCH ERROR COMPENSATION FUNCTION 137. . . . . . . . . . . . . . . . . . . . . . .

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16. COORDINATE SYSTEM CONVERSION 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.1 AXIS SWITCHING 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.2 SCALING (G50, G51) 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.3 COORDINATE SYSTEM ROTATION (G68, G69) 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.4 THREE–DIMENSIONAL COORDINATE CONVERSION 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17. MEASUREMENT FUNCTIONS 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.1 SKIP FUNCTION (G31) 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2 MULTI–STEP SKIP FUNCTION (G31.1 – G31.3) 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.3 HIGH–SPEED SKIP SIGNAL INPUT 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.4 SKIPPING THE COMMANDS FOR SEVERAL AXES 148. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5 AUTOMATIC TOOL LENGTH MEASUREMENT (G37) 148. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6 HIGH–SPEED MEASURING POSITION REACH SIGNAL INPUT 149. . . . . . . . . . . . . . . . . . . . . . .

17.7 TOOL LENGTH MEASUREMENT 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.8 TOOL LENGTH/WORKPIECE ZERO POINT MEASUREMENT B 150. . . . . . . . . . . . . . . . . . . . . . .

17.9 TORQUE LIMIT SKIP 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18. CUSTOM MACRO 152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1 CUSTOM MACRO 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.2 NUMBER OF COMMON VARIABLES 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.3 READ/PUNCH FUNCTION FOR CUSTOM MACRO COMMON VARIABLES 162. . . . . . . . . . . . .

18.4 INTERRUPTION TYPE CUSTOM MACRO 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.5 KEY AND PROGRAM ENCRYPTION 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19. FUNCTIONS FOR HIGH SPEED CUTTING 164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.1 HIGH SPEED MACHINING (G10.3, G11.3, G65.3) 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.2 MULTI–BUFFER (G05.1) 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.3 AUTOMATIC CORNER DECELERATION 166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.4 FEEDRATE CLAMP BY CIRCULAR RADIUS 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.5 ADVANCED PREVIEW CONTROL FUNCTION 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.6 HIGH–PRECISION CONTOUR CONTROL 168. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.7 FEED FORWARD CONTROL 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.8 HIGH–SPEED DISTRIBUTION BY DNC OPERATION USING REMOTE BUFFER 170. . . . . . . . .

19.9 BINARY DATA INPUT OPERATION BY REMOTE BUFFER 171. . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.10 DISTRIBUTION PROCESS BY REMOTE BUFFER 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19.11 HIGH–PRECISION CONTOUR CONTROL USING 64–BIT RISC PROCESSOR 174. . . . . . . . . . . .

20. AXES CONTROL 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.1 FOLLOW UP FUNCTION 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.2 FOLLOW–UP FOR EACH AXIS 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.3 MECHANICAL HANDLE FEED 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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20.4 SERVO OFF 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.5 MIRROR IMAGE 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.6 CONTROL AXIS DETACH 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.7 SIMPLE SYNCHRONOUS CONTROL 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.8 FEED STOP 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.9 ARBITRAR Y COMMAND MULTIPLY (CMR) 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.10 TWIN TABLE CONTROL 179. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.11 SIMPLE SYNCHRONIZATION CONTROL POSITIONAL DEVIATION

CHECK FUNCTION 180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.12 NORMAL DIRECTION CONTROL (G41.1, G42.1) 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.13 CHOPPING FUNCTION (G81.1) 182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.14 AXIS CONTROL WITH PMC 183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.15 UPGRADED 5–AXIS CONTROL COMPENSATION PARAMETER 184. . . . . . . . . . . . . . . . . . . . . . .

20.16 ROLL–OVER FUNCTION FOR A ROTA TION AXIS 184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.17 TWO AXES ELECTRONIC GEAR BOX 185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.18 SKIP FUNCTION FOR EGB AXIS 186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20.19 ELECTRONIC GEARBOX AUTOMATIC PHASE SYNCHRONIZATION 187. . . . . . . . . . . . . . . . . .

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21. AUTOMATIC OPERATION 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.1 OPERATION MODE 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.1.1 Tape Operation 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.1.2 Memory Operation 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.1.3 MDI Operation 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.2 SELECTION OF EXECUTION PROGRAMS 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.2.1 Program Number Search 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.2.2 Program Search with Program Names 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.2.3 Sequence Number Search 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.2.4 Rewind 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.3 ACTIVATION OF AUTOMATIC OPERATION 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.3.1 Cycle Start 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.4 EXECUTION OF AUTOMATIC OPERATION 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.4.1 Buf fer Register 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.5 AUTOMATIC OPERATION STOP 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.5.1 Program Stop (M00, M01) 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.5.2 Program End (M02, M30) 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.5.3 Sequence Number Comparison and Stop 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.5.4 Feed Hold 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.5.5 Reset 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.6 RESTART OF AUTOMATIC OPERATION 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.6.1 Program Restart 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.6.2 Program Reset Function and Output of M, S, T, and B, Codes 192. . . . . . . . . . . . . . . . . . . . . . . . .

21.6.3 Restart of Block 193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.6.4 Tool Retract & Recover 193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.7 MANUAL INTERRUPTION DURING AUTOMATIC OPERATION 196. . . . . . . . . . . . . . . . . . . . . . .

21.7.1 Handle Interruption 196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.7.2 Automatic/Manual Simultaneous Operation 196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.8 RETRACE 197. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.9 ACTIVE BLOCK CANCEL 198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21.10 TRANSVERSE INHIBIT LIMIT FUNCTION 198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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22. MANUAL OPERATION 199. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.1 MANUAL FEED 200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.2 INCREMENTAL FEED 200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.3 MANUAL HANDLE FEED (1ST) 200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.4 MANUAL HANDLE FEED (2ND, 3RD) 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.5 MANUAL ARBITRARY ANGLE FEED 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.6 MANUAL NUMERIC COMMAND 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.7 MANUAL ABSOLUTE ON/OFF 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.8 MANUAL INTERRUPTION FUNCTION FOR THREE–DIMENSIONAL

COORDINATE SYSTEM CONVERSION 203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.9 STORED STROKE LIMIT CHECK IN MANUAL OPERATION 203. . . . . . . . . . . . . . . . . . . . . . . . . .

23. PROGRAM TEST FUNCTIONS 204. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23.1 ALL AXES MACHINE LOCK 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23.2 MACHINE LOCK ON EACH AXIS (Z AXIS COMMAND CANCEL) 205. . . . . . . . . . . . . . . . . . . . .

23.3 AUXILIARY FUNCTION LOCK 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23.4 DRY RUN 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23.5 SINGLE BLOCK 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23.6 RETRACE PROGRAM EDITING FUNCTION 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24. SETTING AND DISPLAY UNIT 208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.1 SETTING AND DISPLAY UNIT 209. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.2 EXPLANATION OF THE KEYBOARD 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.3 SOFT KEYS AND CALCULATION KEYS 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.4 MANUAL DATA INPUT (MDI) 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.5 DISPLAY 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.6 LANGUAGE SELECTION 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.7 CLOCK FUNCTION 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.8 RUN HOUR & PARTS NUMBER DISPLAY 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.9 LOAD METER DISPLAY 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.10 MENU SWITCH 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.11 SOFTWARE OPERATOR’S PANEL 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.12 GRAPHIC DISPLAY FUNCTION 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.13 NC FORMAT GUIDANCE 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.14 NC FORMAT GUIDANCE WITH PICTURE 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.15 SIMPLE CONVERSATIONAL AUTOMATIC PROGRAMMING FUNCTION 226. . . . . . . . . . . . . . .

24.16 DAT A PROTECTION KEY 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.17 DIRECTORY DISPLAY OF FLOPPY CASSETTE/PROGRAM FILE 227. . . . . . . . . . . . . . . . . . . . . . .

24.18 MACHINING TIME STAMP FUNCTION 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.19 DIRECTORY DISPLAY AND PUNCHING ON EACH GROUP 229. . . . . . . . . . . . . . . . . . . . . . . . . . .

24.20 FUNCTION FOR DISPLAYING MULTIPLE SUBSCREENS 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.21 HELP FUNCTION 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.22 PARAMETER SETTING (RS–232–C) SCREEN 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.23 SCREEN FOR SPECIFYING HIGH–SPEED AND HIGH–PRECISION MACHINING 231. . . . . . . .

24.24 OPERATION HISTORY 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.25 WAVEFORM DIAGNOSIS FUNCTION 233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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24.26 CR T SCREEN SAVING FUNCTION 234. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.27 M–CODE GROUP FUNCTION 234. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24.28 WORKPIECE ZERO POINT MANUAL SETTING FUNCTION 234. . . . . . . . . . . . . . . . . . . . . . . . . . .

24.29 SCREEN SAVER FUNCTION 235. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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25. PART PROGRAM STORAGE AND EDITING 236. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.1 FOREGROUND EDITING 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.2 BACKGROUND EDITING 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.3 EXPANDED PART PROGRAM EDITING 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.4 NUMBER OF REGISTERED PROGRAMS 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.5 PART PROGRAM STORAGE LENGTH 239. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.6 PLAY BACK 240. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.7 OVERRIDE PLAY BACK 241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.8 EXTERNAL I/O DEVICE CONTROL 242. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.9 HIGH–SPEED PART PROGRAM REGISTRATION FUNCTION 242. . . . . . . . . . . . . . . . . . . . . . . . . .

25.10 FUNCTION SELECTION WITH HARD KEYS 242. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25.11 MULTI–EDIT FUNCTION 242. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26. DIAGNOSIS FUNCTIONS 243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26.1 SELF DIAGNOSIS FUNCTIONS 244. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26.2 TROUBLE DIAGNOSIS GUIDANCE 244. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27. DATA INPUT/OUTPUT 246. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.1 TAPE READER 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.1.1 Tape Reader without Reels 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.1.2 Tape Reader with Reels 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.2 READER/PUNCHER INTERF ACES 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.3 INPUT/OUTPUT DEVICES 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.3.1 FANUC FLOPPY CASSETTE 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.3.2 Portable Tape Reader 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.3.3 FANUC PROGRAM FILE Mate 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27.3.4 FANUC Handy File 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28. SAFETY FUNCTIONS 249. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.1 EMERGENCY STOP 250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.2 OVER TRAVEL FUNCTIONS 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.2.1 Overtravel 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.2.2 Stored Stroke Check 1 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.2.3 Stored Stroke Check 2 (G22, G23) (M Series) 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.2.4 Stroke Check before Move 252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.3 INTERLOCK 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.3.1 Interlock per Axis 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.3.2 All Axes Interlock 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.3.3 Automatic Operation All Axes Interlock 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.3.4 Block Start Interlock 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.3.5 Cutting Block Start Interlock 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.4 EXTERNAL DECELERATION 254. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28.5 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION 255. . . . . . . . . . . . . . . . . . . .

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29. STATUS OUTPUT 257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.1 NC READY SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.2 SERVO READY SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.3 REWINDING SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.4 ALARM SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.5 DISTRIBUTION END SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.6 AUTOMATIC OPERATION SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.7 AUTOMATIC OPERATION START LAMP SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.8 FEED HOLD SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.9 RESET SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.10 INPOSITION SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.11 MOVE SIGNAL 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.12 AXIS MOVE DIRECTION SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.13 RAPID TRAVERSING SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.14 TAPPING SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.15 THREAD CUTTING SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.16 CONSTANT SURFACE SPEED CONTROL SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.17 INCH INPUT SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29.18 DI STA TUS OUTPUT SIGNAL 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30. EXTERNAL DATA INPUT/OUTPUT 260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.1 EXTERNAL TOOL COMPENSATION 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.2 EXTERNAL PROGRAM NUMBER SEARCH 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.3 EXTERNAL SEQUENCE NUMBER SEARCH 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.4 EXTERNAL WORKPIECE COORDINATE SYSTEM SHIFT 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.5 EXTERNAL MACHINE COORDINATE SYSTEM COMPENSATION 262. . . . . . . . . . . . . . . . . . . . .

30.6 EXTERNAL ALARM MESSAGE 262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.7 EXTERNAL OPERATORS MESSAGE 262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.8 EXTERNAL CUSTOM MACRO VARIABLE VALUE INPUT 262. . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.9 EXTERNAL TOOL OFFSET AMOUNT OUTPUT 262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.10 EXTERNAL PROGRAM NUMBER OUTPUT 262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.11 EXTERNAL SEQUENCE NUMBER OUTPUT 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30.12 EXTERNAL WORKPIECE COORDINATE SYSTEM SHIFT AMOUNT OUTPUT 263. . . . . . . . . . .

30.13 EXTERNAL MACHINE COORDINATE SYSTEM COMPENSATION AMOUNT OUTPUT 263. . .

30.14 EXTERNAL CUSTOM MACRO VARIABLE VALUE OUTPUT 263. . . . . . . . . . . . . . . . . . . . . . . . . .

31. EXTERNAL WORKPIECE NUMBER SEARCH 264. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32. MACHINE INTERFACE 265. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32.1 BASIC MACHINE INTERFACE (BMI) 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32.2 3M INTERF ACE 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32.3 6M INTERF ACE 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–9

T ABLE OF CONTENTS

B–62082E/04

33. PROGRAMMABLE MACHINE CONTROLLER (PMC–NA/NB) 267. . . . . . . . . . . . . . . . .

33.1 PMC INSTRUCTION 268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33.2 NC WINDOW 271. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33.3 NC WINDOW B 271. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33.4 KEY INPUT FROM PMC 271. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33.5 OUTPUT AND SETTING OF PMC PARAMETERS 271. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34. MAN MACHINE CONTROL (MMC) (ONLY 150–MB) 272. . . . . . . . . . . . . . . . . . . . . . . . . .

34.1 HARDWARE SPECIFICATIONS 273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34.2 SOFTWARE SPECIFICATIONS 274. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34.3 MMC/CNC WINDOW 275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34.4 MMC/PMC WINDOW 276. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35. CONTROL UNIT 277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35.1 CONTROL UNIT 278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35.2 POWER SUPPLY 278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35.3 ENVIRONMENTAL CONDITIONS 278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

36. SERVO 279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

37. POSITION DETECTOR 280. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

38. SPINDLE 281. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

39. MACHINE INTERFACE 282. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40. POSITION SWITCHING FUNCTION 283. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

APPENDIX

A. RANGE OF COMMAND VALUE 287. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. FUNCTIONS AND COMMAND FORMAT LIST 292. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. LIST OF TAPE CODE 297. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. EXTERNAL DIMENSIONS BASIC UNIT 299. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E. EXTERNAL DIMENSIONS CRT/MDI UNIT 305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F. EXTERNAL DIMENSIONS OF EACH UNIT 322. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G. POWER SUPPLY AND HEAT LOSS 334. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–10

I. GENERAL

B–62082E/04

GENERAL

To achieve high–speed, highly accurate, and highly efficient processes required for future machining needs, the Series 15, an advanced industrial computer, was developed as the high–grade AI–CNC. It uses surface–mounted electronic parts to enable the control unit to be made compact and the high–speed multi–master bus (FANUC BUS) to standardize all the printed– circuit boards for providing a series of systems in different sizes from small to large. The sophisticated functions such as the world’s fastest CNC function using a 32–bit microprocessor, high–speed and highly accurate digital servo system, and high–speed PMC function provided with the newly developed processor dedicated to PMC allow great enhancement of machining throughput. The high–grade AI–CNC has AI functions such as intelligent failure diagnosis guidance which allow full use of the user’s know–how. The 15–MB with the addition of a man–machine control (MMC) function which enables the incorporation of a high level man–machine interface.

1. GENERAL

2. LIST OF SPECIFICATIONS

LIST OF SPECIFICATIONS

GENERAL

Series 15 has the basic machine interface (BMI), FS3 interface and the FS6 interface and there are some limitations on functions depending on the machine interfaces. The specification list also informs which functions are effective for each machine interface. The features of CNCs mentioned here are classified as in the following table and the lists of specifications are written according to this classification.

Classification of specification T able No. of specification list

Standard specification Table 2 (a)

B–62082E/04

Optional specification Table 2 (b)

Detailed explanations of each function is mentioned in an item of the text indicated in the specification list.

1) List of standard specification The list indicates the standard features.

2) List of optional specification The list indicated features which can be added to the standard features.

See DESCRIPTIONS (Supplement for Tracong/Digitizing) (B–62472E) of FANUC Series 15–MB for the following functions.

D Tracing functions D Digitizing functions

See DESCRIPTIONS (B–62082EN–1) (For Gas, Laser, Plasma Cutting Machine) of FANUC Series 15–MB for the following functions.

D Automatic exact stop check D Gradual curve cutting D Torch swivel control function D Error detect function D Prallel axis control function D Accelerating/decelerating signal D Background graphic display

B–62082E/04

item

GENERAL

Table 2 (a) Standard specification (1/6)

2. LIST OF SPECIFICATIONS

Items

Basic machine

interface (BMI)

Controlled axis 3 axes

(2 axes also possible)

Simultaneous controllable axes

Axis name Optional from

X, Y, Z, U, V, W, A, B, C

Increment system 0.01, 0.001, 0.0001 mm

0.001, 0.0001, 0.00001 inch

Interpolation unit 0.005, 0.0005,

0.00005 mm, 0.0005,

0.00005, 0.000005 inch

Maximum commandable value

High resolution detection interface

Positioning Linear interpolation type

positioning is also available

2 axes Same as left Same as left II 1.3

8 digits Same as left Same as left Appendix

YES YES YES

Functions

3M interface 6M interface

Same as left Same as left II 1.1

Same as left Same as left II 1.5

Same as left Same as left II 1.7

Same as left Same as left Appendix

Same as left Same as left II 3.1

Reference

Linear interpolation YES YES YES II 3.3 Multi–quadrant circuit

interpolation Rapid traverse rate YES YES YES II 5.1 Tangential speed constant

control Cutting feedrate clamp For each axis Same as left Same as left II 5.2.2 Feed per minute YES YES YES II 5.2.3 Feedrate override 0–254%

Rapid traverse override F0, F1, 50%, 100% Same as left Same as left II 5.3.4 Function for overriding the

rapid traverse feedrate in 1% units

Automatic acceleration/ deceleration

Rapid traverse: Linear acceleration/deceleration Cutting feed: Exponential acceleration/ deceleration

YES YES YES II 3.4

YES YES YES II 5.2.1

0–150%

1% step

YES YES YES II 5.3.5

10% step

Same as left Same as left II 5.4

0–200%

10% step

II 5.3.1

Linear acceleration/ deceleration after cutting feed interpolation

YES YES YES II 5.5

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (a) Standard specification (2/6)

B–62082E/04

Items Reference

interface (BMI)

Acceleration/deceleration before cutting feed interpolation

Acceleration/deceleration prior to pre–read interpolation

Bell–shaped acceleration/ deceleration after rapid traverse interpolation

Cutting/rapid traverse position check function

Exact stop, Exact stop mode Cutting mode Tapping mode

Dwell Per second dwell and per

YES YES YES II 5.7

YES YES YES II 5.8

YES YES YES II 5.9

YES YES YES II 5.13

YES YES

revolution dwell

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

YES II 5.14–

(Tapping mode signal

is not available)

Same as left Same as left II 5.18

5.16

Reference position return Manual, automatic

(G27, G28, G29)

Reference position automatic setting function

Dog–less reference position setting function

Machine coordinate system selection (G53)

Workpiece coordinate system selection (G54–G59)

Local coordinate system setting (G52)

Workpiece coordinate system change (G92)

Workpiece coordinate system presetting

Absolute/incremental programming

Decimal point input/pocket calculator type decimal point input

Can be combined in the

YES NO NO II 6.6

YES YES YES II 6.7

YES YES YES II 7.1

YES YES YES II 7.2

YES YES YES II 7.3

YES YES YES II 7.4

YES YES YES II 7.7

same block

YES YES YES II 8.4

Same as left Same as left II 6.1

II 6.2 II 6.3

Same as left Same as left II 8.1

Function for switching between diameter and radius programming

YES YES YES II 8.6

B–62082E/04

GENERAL

Table 2 (a) Standard specification (3/6)

2. LIST OF SPECIFICATIONS

Items Reference

interface (BMI)

S code output S8–digit command

(Binary output)

T code output T8–digit command

(Binary output)

Miscellaneous function M8–digit command

(Binary output)

High speed M/S/T/B interface

Program number/program name

Program number search YES YES YES II 12.1 Main program/subprogram Subprogram:

Sequence number 5–digit Same as left Same as left II 12.6 Sequence number search YES YES YES II 12.6

Program number: 4 digits Program name:

YES NO NO II 1 1.3

16 characters

Fourfold nesting

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

S2–digit command

(BCD output)

T2–digit command

(BCD output)

M2–digit

(BCD output)

Same as left Same as left II 12.1

Same as left Same as left II 12.4

Same as left II 9.1

Same as left II 10.1

M3–digit

(BCD output)

II 1 1.1

II 12.2

II 12.5

Tape code EIA RS244, ISO840

automatic recognition Command format Word–address format Same as left Same as left II 12.9 Label skip YES YES YES II 12.10 Control in/out YES YES YES II 12.11 Optional block skip YES YES YES II 12.12 Circular interpolation radius

programming Circle cutting function YES YES YES II 13.10 Tool length compensation YES YES YES II 14.1 Tool offset amount memory

A 32 tool offsets YES YES YES II 14.7 Incremental offset input YES YES YES Backlash compensation Max. 9999 pulses Same as left Same as left II 15.6 Tool length measurement YES YES YES III 17.7 Automatic corner

deceleration

Common to all tools Same as left Same as left II 14.6.1

YES YES YES II 13.6

YES YES YES II 19.3

Same as left Same as left II 12.7

Feedrate clamp by circular radius

Advanced preview control function

YES YES YES II 19.4

YES YES YES II 19.5

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (a) Standard specification (4/6)

B–62082E/04

Items Reference

interface (BMI)

Follow–up YES YES YES II 20.1 Follow–up for each axis YES YES YES II 20.2 Servo off and mechanical

handle feed External mirror image Possible on all axes Possible on all axes Possible on all axes II 20.5 Controlled axis detach YES YES YES II 20.6 Roll–over function for a

rotation axis Automatic operation Tape operation/Memory

operation/MDI operation

Cycle start/feed hold YES YES YES II 21.3.1

Buffer register YES YES YES II 21.4.1 Program stop/program end YES YES YES II 21.5.1

YES YES YES II 20.3

YES YES YES II 20.16

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

II 20.4

Same as left Same as left II 21

II 21.5.4

II 21.5.2

Reset and rewind YES YES YES II 21.2.4

II 21.5.5 Transverse inhibit limit YES NO NO II 21.10 Jog feed YES YES YES II 22.1 Incremental feed 1, 10, 100, 1000,

10000, 100000

Manual absolute on/off YES YES YES II 22.7 Manual operation stored

stroke check Machine lock on all axes YES YES YES II 23.1 Machine lock on each axis YES YES YES II 23.2 Auxiliary function lock YES YES YES II 23.3 Dry run YES YES YES II 23.4 Single block YES YES YES II 23.5 Retrace program editing

function Keyboards type manual

data input (MDI), CRT character display

YES NO NO II 22.9

YES NO NO II 23.6

9″ monochrome

(Note)

1, 10, 100,

1000

Same as left Same as left II 24.1

1, 10, 100, 1000, 10000,

100000

II 22.2

NOTE

The applicable display unit is limited.

B–62082E/04

GENERAL

Table 2 (a) Standard specification (5/6)

2. LIST OF SPECIFICATIONS

Items Reference

interface (BMI)

Clock function YES YES YES II 24.7 Run hour and parts number

display Load meter display YES YES YES II 24.9 NC format guidance YES YES YES II 24.13 NC format guidance with

figure Data protection key 3 types 1 type 1 type II 24.16 Directory display and

punching on each group Function for displaying

multiple subscreens Help function YES YES YES II 24.21 Parameter setting

(RS–232–C) screen

YES YES YES II 24.8

YES

(Note)

YES YES YES II 24.19

YES YES YES II 24.20

YES YES YES II 24. 22

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

YES

(Note)

YES

(Note)

II 24.14

Screen for specifying high– speed and high–precision machining

Operation history YES YES YES II 24.24 Waveform diagnosis

function CRT screen saving function YES YES YES II 24.26 Workpiece origin manual

setting Screen saver YES NO NO II 24.29 Part program storage &

editing Expanded part program

editing Background editing YES YES YES II 25.2 Part program storage

length

YES YES YES II 24.23

YES YES YES II 24.25

YES NO NO II 24.28

YES YES YES II 25

YES YES YES II 25.3

80 m Same as left Same as left II 25.5

NOTE

The applicable display unit is limited.

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (a) Standard specification (6/6)

B–62082E/04

Items Reference

interface (BMI)

Resisterable programs (Program name display is also possible)

High–speed part program registeration function

Function selection with hard keys

Multi–edit function YES YES YES II 25.11 Self–diagnosis functions YES YES YES II 26.1 Emergency stop YES YES YES II 28.1 Overtravel YES YES YES II 28.2.1 Stored stroke check 1 YES YES YES II 28.2.2 Interlock Each axis/all axes/all axes

in automatic operation/

block start/cutting block

100 100 100 II 25.4

YES YES YES II 25.9

YES YES YES II 25.10

start interlock

FunctionsItems Reference

6M interface3M interfaceBasic machine

All axes or Z–axis only Each axis, cutting

block start

item

II 28.3

Status output NC ready, servo ready, re-

winding, alarm, distribution

end, automatic operation,

automatic operation start lamp, feed hold reset, imposition, rapid traversing, tapping, constant surface

speed control, inch input

and DI status

Connectable servo motor FANUC AC SERVO

MOTOR series Connectable servo unit PWM transistor drive Same as left Same as left II 36 Connectable position

detector Absolute position detector YES YES YES II 37 Connectable spindle motor FANUC AC SPINDLE

Connectable spindle servo unit

Power (About the CNC unit)

Pulse coder/optical scale Same as left Same as left II 37

MOTOR series

PWM transistor drive Same as left Same as left II 38

200 to 240 V AC

+10%, –15%

50 to 60 Hz 3 Hz

NC ready, servo ready,

rewinding, alarm, dis-

tribution end, automat-

ic operation start lamp,

feed hold, reset

Same as left Same as left II 36

Same as left Same as left II 38

Same as left Same as left II 35.2

Same as left II 29

B–62082E/04

item

GENERAL

Table 2 (b) Optional specification (1/8)

2. LIST OF SPECIFICATIONS

Items

Basic machine

interface (BMI)

Controlled axes expansion Name of axes: Select from X, Y, Z, A, B, C, U, V, W axis optionally

Simultaneous controllable axes expansion

Single direction positioning YES YES YES II 3.2 3–dimensional circular

interpolation function Helical interpolation Also applied to

Helical interpolation B (*) Circular interpolation plus

Max. 8 axes plus spindle

control 2 axes

Max. simultaneous

controlled axes

Basic 3 axes puls

rotation 2 axes

additional axes,

Circular interpolation plus

max. 2 axes linear

interpolation

max. 4 axes linear

interpolation

Functions

3M interface 6M interface

NO Max. 5 axes plus

spindle control

Same as left Same as left II 1.4

Basic 3 axes plus

rotation 1 axis

Also applied to additional axes

NO Circular interpolation

Basic 3 axes plus

rotation 2 axes Also applied to

additional axes

plus max. 3 axes linear

interpolation

Reference

II 1.2

II 3.5

II 3.6

II 3.7

Hypothetical axis YES YES YES II 3.8 Polar coordinate

interpolation Cylindrical interpolation YES YES YES II 3.10 Exponential function inter-

polation Circular threading B YES YES YES II 3.12 Involute interpolation YES YES YES II 3.13 Helical involute interruption Involute interpolation

Spline interpolation YES YES YES II 3.15 Spiral interpolation and

conical interpolation Smooth interpolation (*) YES NO NO II 3.17 Thread cutting, inch thread-

ing, continuous threading Per revolution feed YES YES YES II 5.2.4

YES YES YES II 3.9

YES YES YES II 3.11

Involute interpolation

plus linear 4 axes

YES YES YES II 3.16

YES YES YES II 4

plus linear 4 axes

Involute interpolation

plus linear 4 axes

II 3.14

Inverse time feed YES YES YES II 5.2.5 F–1 digit feed YES NO YES II 5.2.6 Second feedrate override YES NO NO II 5.3.2

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (b) Optional specification (2/8)

B–62082E/04

Items Reference

interface (BMI)

Second feedrate override B YES NO NO II 5.3.3 Bell–shaped acceleration/

deceleration after cutting feed interpolation

Cutting point speed control function

Acceleration/deceleration function for the constant speed specified by the PMC axis control function

Automatic corner override YES YES YES II 5.17 Feed per rotation without a

position coder 2nd to 4th reference

position return Floating reference point

return

YES YES YES II 5.6

YES YES YES II 5.10

YES YES YES II 5.11

YES YES YES II 5.19

YES 2nd reference

YES YES

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

YES II 6.4

position return

(Note 3)

YES

(Note 3)

II 6.5

Programmable data input G10, tool offset amount,

Work zero pint offset

amount can be changed by

programming

Additional workpiece coordinate systems

Plane switching (*) YES YES YES II 7.8 Polar coordinate command YES YES YES II 8.2 Inch/metric conversion YES YES YES II 8.3 Spindle speed binary/

analog output/spindle speed clamp (G92)

Constant surface speed control

Actual spindle speed output YES NO NO II 9.6 Spindle positioning YES NO NO II 9.7 Spindle speed –fluctuation

detection

(S command should be

YES YES YES II 7.6

YES

within 60000 rpm)

(Note 1)

YES NO YES II 9.4

YES NO NO II 9.8

Same as left Same as left II 7.5

YES

(S command should

be within 30000 rpm)

(S command should

be with in 30000 rpm)

YES

II 14.8

II 9.2 II 9.3 II 9.5

Tool life management YES NO YES II 10.2 Tool life management 512

pairs

YES NO NO II 10.2

B–62082E/04

GENERAL

Table 2 (b) Optional specification (3/8)

2. LIST OF SPECIFICATIONS

Items Reference

interface (BMI)

2nd auxiliary function (Select address from A, B, C, U, V, W other than controlled axes address)

1 block plural M–command YES NO NO II 11.4 48–character program

name Optional block skip addition YES NO YES II 12.13 Canned cycles (G73, G74,

G76, G80–G89) Rigid tapping YES YES YES II 13.2 Optional angle chamfering/

corner R Programmable mirror

image Index table indexing YES NO YES II 13.8

8 digit

(Binary output)

YES YES YES II 12.3

YES YES YES II 13.1

YES YES YES II 13.4

YES YES YES II 13.7

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

BCD 3 digits BCD 3 digits II 11.2

II 13.5

Figure copying YES NO YES II 13.9 Tool offset G45–G48 YES YES YES II 14.2 Cutter compensation B YES YES YES II 14.3.1 Cutter compensation C YES YES YES II 14.3.2 Three dimensional tool

compensation Tool offset by tool number YES YES YES II 14.5 Tool offset amount memoryBGeometry/wear memory ,

radius and length offset

Tool offset amount memoryC6 digits, geometry/wear

memory , length/radius

Additional tool offset pairs Total 99/200/499/999 pairs Same as left Same as left II 14.7 Rotary table dynamic

fixture offset Three–dimensional cutter

comepensation (*)

YES YES YES II 14.4

Same as left Same as left II 14.6.2

indistinguishable

Same as left Same as left II 14.6.3

offset memory

YES YES YES II 14.9

YES YES YES II 14.10

Designation direction tool length compensation (*)

YES NO NO II 14.11

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (b) Optional specification (4/8)

B–62082E/04

Items Reference

interface (BMI)

Stored pitch error compensation

Interpolating pitch error compensation

The second cylindrical pitch

error compensation method

Inclination compensation YES YES YES II 15.4 Straightness compensation YES YES YES II 15.5 Programmable parameter

entry Interpolation–type

straightness compensation 128–point straightness

compensation Bidirectional pitch error

compensation

YES YES YES II 15.1

YES YES YES II 15.2

YES YES YES II 15.3

YES YES YES II 15.7

YES NO NO II 15.8

YES NO NO II 15.9

YES NO NO II 15.10

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

Axis switching YES YES YES II 16.1 Scaling YES YES YES II 16.2 Coordinate system rotation YES YES YES II 16.3 Three–dimensional

coordinate conversion Skip function YES YES YES II 17.1 Multi–step skip function YES NO NO II 17.2 High–speed skip signal

input Skipping the commands for

several axes Automatic tool length

measurement High–speed measuring

position reach signal input Tool length/work zero point

measurement B Torque limit skip YES NO NO II 17.9

YES NO NO II 16.4

YES YES YES II 17.3

YES YES YES II 17.4

YES NO NO II 17.5

YES YES YES II 17.6

YES YES YES II 17.8

Incremental system IS–D(*) 0.00001 mm

0.000001 inch

Same as left Same as left II 1.7

B–62082E/04

GENERAL

Table 2 (b) Optional specification (5/8)

2. LIST OF SPECIFICATIONS

Items Reference

interface (BMI)

Tool offset value digit expansion

Custom macro YES YES YES II 18 Custom macro common

variable Read/punch function for

custom macro common variable

Interruption type custom macro

Key and program encryption

High–speed machining YES YES YES II 19.1 Multi–buffer YES YES YES II 19.2 High–precision contour

control (*)

Total 100/200/300/600

YES YES YES II 14.6

variable

YES YES YES II 18.3

YES NO YES II 18.4

YES YES YES II 18.5

YES YES YES II 19.6

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

Same as left Same as left II 18.2

Simple synchronous control YES YES YES II 20.7 Feed stop YES YES YES II 20.8 Arbitrary command multiply YES YES YES II 20.9 Twin table control YES YES YES II 20.10 Simple synchronization

control positional deviation check function

Normal direction control YES YES YES II 20.12 Chopping function YES NO NO II 20.13 Axis control by PMC YES NO NO II 20.14 Upgraded 5–axis control

compensation parameter Two axes electronic gear

box (*) EGB axis skip YES NO NO II 20.18 Electric gear box automatic

phase matching

YES YES YES II 20.11

YES NO NO II 20.15

YES NO NO II 20.17

YES NO NO II 20.19

Simple synchronous control YES NO NO II 20.7 Sequence number

comparison and stop

YES YES YES II 21.5.3

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (b) Optional specification (6/8)

B–62082E/04

Items Reference

interface (BMI)

Program restart YES YES YES II 21.6.1 Program restart function

and output of M, S, T and B codes

Restart of block YES YES YES II 21.6.3 Tool retract & recover YES NO NO II 21.6.4 Manual handle interruption YES YES YES II 21.7.1 Automatic/manual

simultaneous operation Retrace YES NO NO II 21.8 Active block cancel YES NO NO II 21.9 Manual handle feed (1st) YES YES YES II 22.3 Manual handle feed

(2nd, 3rd)

YES YES YES II 21.6.2

YES NO NO II 21.7.2

YES YES YES II 22.4

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

Manual arbitrary angle feed Unit of angle: 1/16° NO NO II 22.5 Manual numerical

command Manual interruption function

for three–dimensional coordinate system conversion (*)

Language selection YES YES YES II 24.6 Menu switch YES YES YES II 24.10 Software operator’s panel YES YES YES II 24.11 Graphic display YES YES YES II 24.12 Simple conversational

automatic programming function

Directory display of floppy cassette

M–code grouping YES NO NO II 24.27 Rewinding of portable tape

reader

YES YES YES II 22.6

YES NO NO II 22.8

YES

(Note 4)

YES YES YES II 24.17

YES YES

YES

(Note 4)

YES

(Note 4)

YES

II 24.15

II 27.3.2

Machining time stamp function

Additional programs 400/1000 Same as left Same as left II 25.4

YES YES YES II 24.18

B–62082E/04

GENERAL

Table 2 (b) Optional specification (7/8)

2. LIST OF SPECIFICATIONS

Items Reference

interface (BMI)

Part program storage length

Playback YES YES YES II 25.6 Override playback YES YES YES II 25.7 External I/O device control YES NO NO II 25.8 Trouble diagnosis guidance

(*) Tape reader without reels YES YES YES II 27.1.1 Tape reader with reels YES YES YES II 27.1.2 Reader/puncher interface YES YES YES II 27.2 Portable tape reader YES YES YES II 27.3.2 FANUC PROGRAM FILE

Mate FANUC Handy File YES YES YES II 27.3.4

Max. 5120 m Same as left Same as left II 25.5

YES YES YES II 26.2

YES YES YES II 27.3.3

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

Stored stroke check 2 YES YES YES II 28.2.3 Stroke check before move YES YES YES II 28.2.4 External deceleration Applied to all axes NO Applied only X, Y, Z

axes

Abnormal load detection function

Moving signal output YES YES YES II 29.11 Moving direction signal

output External data input/output Input/output of tool offset

amount, work zero offset

value, machine coordinate

system shift amount, alarm

message, operator mes-

sage, program number search, sequence number search and custom macro

variables are available.

External workpiece number search

CNC window YES NO NO II 33.2

YES NO NO II 28.5

YES NO NO II 29.12

Input of tool offset

amount and work zero

offset value are avail-

able (with PMC)

NO (without PMC)

31 points 15 points 31 points II 31

Input of tool offset

amount, work zero off-

set value, alarm mes-

sage, operator mes-

sage and program

number search are

available

II 28.4

II 30

CNC window B YES YES YES II 33.3

2. LIST OF SPECIFICATIONS

GENERAL

Table 2 (b) Optional specification (8/8)

B–62082E/04

Items Reference

interface (BMI)

Multi–tap transformer 200/220/230/240/380/415/

440/460/480/550 V AC Key input from PMC YES YES YES II 33.4 FS6M interface

multi–handle Position switching function YES YES YES II 40

— — YES II 32.3

FunctionsItems Reference

item

6M interface3M interfaceBasic machine

Same as left Same as left

NOTE

1 S8–digit (Binary code output) is available as a standard feature in case of Basic Machine

Interface (BMI).

2 T8–digit (Binary code output) is available as a standard feature in case of Basic Machine

Interface (BMI). 3 The floating reference point return completion signal (output signal) is not provided. 4 The applicable display unit is limited. 5 Above functions with asterisk (*) can not be used in the 15MEK or 15MEL.

II. NC FUNCTIONS

B–62082E/04

NC FUNCTIONS

This Part describes all the functions which will be realized throughout all models and all machine interfaces. For which functions are available on a specific machine interface in a specific model, refer to the list of specifications in Part I.

1. CONTROLLED AXES

 

NC FUNCTIONS

B–62082E/04

NC FUNCTIONS

1. CONTROLLED AXES

1.1

BASIC CONTROLLED AXES

1.2

CONTROLLABLE AXES EXPANSION

1.3

BASIC SIMULTANEOUSLY CONTROLLABLE AXES

1.4

SIMULTANEOUSLY CONTROLLABLE AXES EXPANSION

3 axes (2 axes possible)

Max. 7 axes (Total max. 10 axes Cs axis: 2 axes)

2 axes

Simultaneously controllable axes:

Following are controlled all axes at a time. Positioning, Linear interpolation, jog feed and incremental feed.

1.5

NAME OF AXES

Name of axes can be optionally selected from A, B, C, U, V, W, X, Y, Z (Set by parameter).

1. CONTROLLED AXES

NC FUNCTIONS

B–62082E/04

1.6

PROGRAMMING AXIS NAME ADDITION

Nine alphabets A, B, C, U, V, W, X, Y, and Z can conventionally be used for program axis name. However, 9 or more axis names are required when 9 or more axes are to travel in the multi–axis machine with multiple heads. This function, adds 4 addresses I, J, K, and E further in addition to 9 axis names.

Axis name: A, B, C, E, I, J, K, U, V, W, X Y, and Z (Total 13)

The maximum number of digits is 8 and the decimal point programming is allowed.

However, if the I, J, K, and E are used as axis names, they cannot be used for uses other than axis names.

The conventional uses, and limitation of uses with this function are compared in the following:

Additional

address

I, J, K

G–CODE

etc.

G02 G03

Conventional

uses

Center position of arc

User for

controlled axes

Position vector of I, J, and K axes

Comments

The command R is used for the center.

G41 G42

G76 G87

G22 One point of

G65 G66

G66.1

G33 Screw lead

#4108 Custom mac-

Three–dimensional offset vector

Shift value in canned cycle

stroke limit

Argument Argument The decimal point

(number of threads in inch threading)

ro variable Model information of address ‘E’

Same as the above

Same as left The limit position

E axis position vector

No special meaning

The three–dimensional tool compensation is not allowed

The shift value cannot be commanded.

cannot be commanded.

position can be determined by increment system.

The number of threads in inch threading cannot be specified with G33.

The custom macro variable “#4108” cannot be used.

CAUTION

When this function is used, the second auxiliary function cannot be used.

B–62082E/04

1.7

NC FUNCTIONS

1. CONTROLLED AXES

INCREMENT SYSTEM

Least input

increment

0.01 mm

0.001 mm

0.0001 mm

0.00001 mm

0.000001 mm

0.001 inch

0.0001 inch

0.00001 inch

0.000001 inch

0.0000001 inch

0.001 deg

0.0001 deg

0.00001 deg

0.000001 deg

0.0000001 deg

Least command

increment

0.01 mm

0.001 mm

0.0001 mm

0.00001 mm

0.000001 mm

0.001 inch

0.0001 inch

0.00001 inch

0.000001 inch

0.0000001 inch

0.001 deg

0.0001 deg

0.00001 deg

0.000001 deg

0.0000001 deg

Maximum stroke Code

999999.99 mm

99999.999 mm

9999.9999 mm

9999.99999 mm

999.999999 mm

99999.999 inch

9999.9999 inch

999.99999 inch

999.999999 inch

99.9999999 inch

99999.999 deg

9999.9999 deg

999.99999 deg

999.999999 deg

99.9999999 deg

IS–A IS–B IS–C IS–D IS–E IS–A IS–B IS–C IS–D IS–E IS–A IS–B IS–C IS–D IS–E

Five types of increment systems are provided. Increment system IS–A, IS–B, and IS–C can be specified for each axis by setting ISFx and ISRx of parameter No. 1004. Increment system IS–D can be specified for each axis by setting ISDx of parameter No. 1004. Increment system IS–E can be specified for each axis by setting ISEx of parameter No. 1009. Metric systems and inch systems, however, cannot be specified for a machine at the same time. Functions, such as circular interpolation and cutter compensation, cannot be used for axes using different increment systems. Increment systems IS–D and IS–E are optional.

1.8

MAXIMUM STROKE

For IS–B and IS–C, parameter IPPx (data No. 1004, input unit: multiplied by 10) sets the increment systems as follows. For the settings of the increment systems, refer to the manual provided by the machine tool builder.

Least input

increment

0.01 mm

0.001 inch

0.01 deg

0.001 mm

0.0001 inch

0.001 deg

Least command

increment

0.001 mm

0.0001 inch

0.001 deg

0.0001 mm

0.00001 inch

0.0001 deg

Maximum stroke Code

99999.999 mm

99999.9999 inch

99999.999 deg

9999.9999 mm

999.99999 inch

9999.9999 deg

IS–B

IS–C

Maximum stroke = minimum command increment 99999999 (999999999 for IS–D and IS–E) See section 1.7.

2. PREP ARATORY FUNCTIONS

PREPARATORY FUNCTIONS

NC FUNCTIONS

B–62082E/04

The following G code are offered.

G code Group Function

G00 Positioning G01 Linear interpolation G02 Circular/Helical/spiral/conical interpolation CW G03 Circular/Helical/spiral/conical interpolation CCW G02.1 Circular threading B (CW) G03.1 G02.2 G03.2 Involute interpolation (CCW) G02.3 Exponential function interpolation (CW) G03.3 Exponential function interpolation (CCW) G02.4 3–dimensional circular interpolation G03.4 3–dimensional circular interpolation G04 G05.1 G06.1 01 Spline interpolation G07 Hypothetical axis interpolation G07.1 Cylindrical interpolation G09 Exact stop G10 Data setting G10.1

Circular threading B (CCW) Involute interpolation (CW)

Dwell Multi–buffer

PMC data setting

00 G10.3 High–speed machining registration start G10.6 Tool retract & recover G11 Data setting mode cancel G11.3 High–speed machining registration end G12.1 G13.1

Polar coordinate interpolation Polar coordinate interpolation cancel

B–62082E/04

NC FUNCTIONS

G code FunctionGroup

2. PREP ARATORY FUNCTIONS

G12.2 G13.2 G15 G16 G17 Xp Yp plane Xp: X axis or its parallel axis G18 G19 Yp Zp plane Xp: Z axis or its parallel axis G20 G21 G22 G23 G25 G26 G27 Reference position return check G28 Reference position return

Full circle cutting (clockwise) Full circle cutting (counterclockwise) Polar coordinate command cancel Polar coordinate command

Zp Xp plane

Inch input Metric input Stored stroke check on Stored stroke check off Spindle speed fluctuation detection off Spindle speed fluctuation detection on

Zp: Y axis or its parallel axis

G29 Return from reference position G30 Return to 2nd, 3rd, 4th reference position G30.1 G31 Skip function G31.1 Multi–step skip function 1 G31.2 Multi–step skip function 2 G31.3 Multi–step skip function 3 G33 01 Tread cutting G37 T ool length automatic measurement G38 G39 Cutter compensation C corner rounding G40

G40.1 19 Normal direction control cancel G41

Floating reference position return

Cutter compensation C vector retention

Cutter compensation cancel/3 dimensional tool

compensation cancel

Cutter compensation left/3 dimensional tool

compensation

G41.1 19 Normal direction control left on

2. PREP ARATORY FUNCTIONS

NC FUNCTIONS

G code FunctionGroup

G41.2 3–dimensional cutter compensation left

B–62082E/04

G41.3 G42 Cutter compensation right G42.1 19 Normal direction control right on G42.2 07 3–dimensional cutter compensation right G43 T ool length compensation + G43.1 G44 T ool length compensation – G45 T ool offset increase G46 G47 G48 T ool offset double decrease G49 08 Tool length compensation cancel G50 11 Scaling cancel G50.1 18 Programmable mirror image cancel G51 11 Scaling

Leading edge offset

Tool length compensation in tool axis direction

Tool offset decrease Tool offset double increase

G51.1 18 Programmable mirror image G52 G53 G54 Workpiece coordinate system 1 selection G54.1 Additional workpiece coordinate system selection G54.2 Fixture offset selection G55 G56 G57 Workpiece coordinate system 4 selection G58 Workpiece coordinate system 5 selection G59 Workpiece coordinate system 6 selection G60 00 Single direction positioning G61 Exact stop mode G62 G63

Local coordinate system setting Machine coordinate system selection

Workpiece coordinate system 2 selection Workpiece coordinate system 3 selection

Automatic corner override mode Tapping mode

G64 Cutting mode

B–62082E/04

NC FUNCTIONS

G code FunctionGroup

2. PREP ARATORY FUNCTIONS

G65 G65.3 G66 Macro modal call A G66.1 G67 Macro modal call A/B cancel G68 G69 G72.1 G72.2 G73 Peck drilling cycle G74 Counter tapping cycle G76 Fine boring cycle G80 Canned cycle cancel/external operation function cancel G80

Macro call High speed machining program call

Macro modal call B

Coordinate system rotation Coordinate system rotation cancel Rotation copy Parallel copy

Electronic gear box synchronous cancel

(Command for hobbing machine or 1 axis) G81 G81 Electronic gear box synchronous start

G80.5 Electronic gear box synchronous cancel

G81.5 Electronic gear box synchronous start

G81.1 00 Chopping G82 Drilling cycle, counter boring G83 Peck drilling cycle G84 T apping cycle G84.2 Rigid tapping cycle G84.3 G85 G86 Boring cycle G87 Back boring cycle

Drilling cycle, spot boring /external operation

(Command for hobbing machine or 1 axis)

(Command for 2 axes)

Counter rigid tapping cycle

Boring cycle

G88 Boring cycle G89 Boring cycle

2. PREP ARATORY FUNCTIONS

NC FUNCTIONS

G code FunctionGroup

B–62082E/04

G90 G91 G92

G92.1 Workpiece coordinate system presetting G93 Inverse time feed G94 G95 Feed per revolution G96 G97 G98 G99

Absolute command

Increment command

Workpiece coordinates change/Maximum spindle speed

setting

Feed per minute

Constant surface speed control

Constant surface speed control cancel

Canned cycle initial level return

Canned cycle R point level return

CAUTION

G codes of group 00 are not modal.

NOTE

A number of G codes can be specified in a single block if they are of different group each other.

B–62082E/04

NC FUNCTIONS

INTERPOLATION FUNCTIONS

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

3.1

POSITIONING (G00)

The tool path can be selected by setting either of the following parameters. D Linear interpolation type positioning

T ool path is the same as linear interpolation (G01). Positioning is done in a speed which allows the minimum positioning time without exceeding rapid traverse rate of each axis.

D Non linear interpolation type positioning

Positioning is done with each axis separately . Tool path generally does not became a line.

Start point

Non linear interpolation

End point

type positioning Linear interpolation

type positioning

It is decelerated, to a stop at the end point, and imposition check is performed (checks whether the machine has come to the specified position). Width of inposition can be set as a parameter.

Format

G00 _ _ ;



where

_ _: Combination of optional axis address (of X, Y, Z, U, V, W,



; : End of block ( )

A, B, C) as X–Y–Z–A– . . . This manual uses this notation hereinafter.

LF for ISO code CR for EIA code

This manual uses this notation hereinafter.

B–62082E/04

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

3.2

SINGLE DIRECTION POSITIONING (G60)

It is always controlled to perform positioning to the end point from a single direction, for better precision in positioning. If direction from start point to end point is different from the predecided direction, it once positions to a point past the end point, and the positioning is reperformed for that point to the end point. Even if the direction from start point to end point is the same as predecided direction, the tool stops once before the end point. Positioning in this case is always non–linear interpolation type positioning (this has no relations to the G00 parameter setting).

Format

G60 _ ;

Exceeded amount

3.3

LINEAR INTERPOLATION

End point

Temporary stop

Linear interpolation is done with tangential direction feedrate specified by the F code.

Format

G01 _ _ F_ _ ;



where F : Feedrate

Y axis

Start point

G01 G91 X200.0 Y100.0 F200 ;

End point (200, 100)

X axis

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

3.4

CIRCULAR INTERPOLATION (G02, G03)

Circular interpolation of optional angle from 0° to 360° can be specified.

G02: Clockwise (CW) circular interpolation G03: Counterclockwise (CCW) circular interpolation

G03

G02

G17

G03

G02

G18

Clockwise and counterclockwise

G03

G02

G19

Feed rate of the tangential direction takes the speed specified by the F code. Planes to perform circular interpolation is specified by G17, G18, G19. Circular interpolation can be performed not only on the X, Y, and Z axis but also on the parallel axes of the X, Y, and Z axes.

G17: Xp-Yp plane G18: Zp-Xp plane G19: Yp-Zp plane where

Xp: X axis or its parallel axis Yp: Y axis or its parallel axis

Zp: Z axis or its parallel axis Parameter is set to decide which parallel axis of the X, Y, Z axes to be the additional axis.

Format

G17 Xp_ _ Yp_ _ I_ _ J_ _ F_ _; Xp–Yp plane

G18 Zp_ _ Xp_ _ K_ _ I_ _ F_ _; Zp–Xp plane

G19 Yp_ _ Zp_ _ J_ _ K_ _ F_ _; Yp–Zp plane

where I_ _, J_ _, K_ _ Distance of tthe X, Y, Z, axes from the start point to

G02 G03

the center of the circle

B–62082E/04

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

Center

End point (Xp,Y p)

Start point

XpY p plane ZpXp plane YpZp plane

Center

Circular interpolation command

End point (Zp,Xp)

Start point

Center

End point (Y p,Zp)

Start point

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

3.5

3–DIMENSIONAL CIRCULAR INTERPOLATION FUNCTION

Spatial circular interpolation can be performed by specifying an intermediate point and end point of an arc.

G02.4 Xx1 Yy1 Zz1 Aa1 Bb1 ;

Xx2 Yy2 Zz2 Aa2 Bb2 ; or G03.4 Xx1 Yy1 Zz1 Aa1 Bb1 ;

Xx2 Yy2 Zz2 Aa2 Bb2 ;

3-dimensional circular interpolation is performed by specifying one of the above commands. In the above commands, the first block designates the intermediate point of an arc and the second block designates the end point. In incremental specification, the intermediate point specified in the first block must be specified as a position relative to the start point. The end point specified in the second block must be specified as a position relative to the intermediate point. Since this function does not distinguish between the directions of rotation, either G02.4 or G03.4 can be specified. G02.4 and G03.4 fall within G code group 01. These commands are continuous–state commands. Therefore, Once G02.4 or G03.4 is specified, it is valid until another group 01 G code is specified.

Intermediate point (X1,Y1,Z1)

Start point

End point (X2,Y2,Z2)

As shown in the figure, an arc ending at a certain point cannot be obtained unless both an intermediate and end point are specified. Specify the intermediate point and end point in separate blocks. In MDI operation, 3–dimensional circular interpolation starts when the start button is pressed after the blocks for the intermediate and end points are entered. If the start button is pressed immediately after the intermediate point block is entered, the end point of the arc is still unknown so only buffering is performed. In this case, to start 3–dimensional circular interpolation, enter the end point block, then press the start button again. When the commands for 3–dimensional circular interpolation are specified successively , the end point is used as the start point for the next interpolation operation.

B–62082E/04

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

3.6

HELICAL INTERPOLATION (G02, G03)

Helical interpolation performs circular interpolation of a maximum of two axes, synchronizing with other optional two axes circular interpolation. Thread cutting of large radius threads or machining of solid cams are possible by moving a tool in a spiral. The commanded speed is the speed of the tangential direction of the arc.

Format

G17 Xp_ _ Yp_ _ I_ _ J_ _ α_ _ (β_ _) F_ _ ;

G18 Zp_ _ Xp_ _ K_ _ I_ _ α_ _ (β_ _) F_ _ ;

G19 Yp_ _ Zp_ _ I_ _ J_ _ α_ _ (β_ _) F_ _ ;

where α, β : Optional axis other than the circular interpolation axes

G02 G03

Xp–Yp plane

Zp–Xp plane

Yp–Zp plane

Tool path

Tangential speed along an arc by circular interpolation is the rate specified in programming.

Solid cam

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

3.7

HELICAL INTERPOLATION B (G02, G03)

Helical interpolation B performs circular interpolation of a maximum of four axes, synchronizing with other optional two axes linear interpolation. The commanded speed is the speed of the tangential direction of the arc.

Format

G17 Xp_ _ Yp_ _ I_ _ J_ _ α_ _ (β_ _ γ _ _ δ_ _) ;

G18 Zp_ _ Xp_ _ K_ _ I_ _ α_ _ (β_ _ γ _ _ δ_ _) ;

G19 Yp_ _ Zp_ _ I_ _ J_ _ α_ _ (β_ _ γ _ _ δ_ _) ;

where α, β, γ, δ : Optional axis other than the circular interpolation axes

G02 G03

Xp–Yp plane

Zp–Xp plane

Yp–Zp plane

B–62082E/04

3.8

HYPOTHETICAL AXIS INTERPOLATION (G07)

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

Format

G07α0 ; Hypothetical axis setting G07α1 ; Hypothetical axis cancel

where, α : One of controlled axis address

Hypothetical axis interpolation can be used for the following applications:

(1)Sine function interpolation

Pulse distribution with one axis for the circular arc of helical interpolation as the hypothetical axis (Pulses are distributed but not output to the motor) allows the rest of the two axes to move as sine function interpolation. Which of the three axes is regarded as the hypothetical axis is commanded by G07.

Example :

G07 Y0 ; Determines the Y–axis as the hypothetical axis.. . G91 G02 G17 X0 Y–20. R10.0 Z20.0 F50 ;

Sine interpolation is performed on the X– and Z–axes.. . . .

G07 Y1 ; Cancels the Y–axis as the hypothetical axis.. .

10.0

10.0 20.0

Sine function

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

(2)Sine function change of moving speed

Pulse distribution with one axis for circular arc interpolation as the hypothetical axis allows the moving speed of the rest of one axis to change as a sine function.

Example :

G07 Y0 ; Determines the Y–axis as the hypothetical axis.. . G91 G02 G17 X30.0 Y0 R15.0 F50 ;

Changes the feedrate on the X–axis as a sine function.. . . .

G07 Y1 ; Cancels the Y–axis as the hypothetical axis.. .

X axis speed

50mm/min

Time

(3)Fraction lead threading

The long axis (the axis with the largest move distance) for threading is determined as the hypothetical axis to enable threading of the fraction lead.

Example :

G07 X0 ; Determines the X–axis as the hypothetical axis.. . G91 G33 X1181.102 Z100.0 F100 ;

The Z–axis lead is expressed by the following formula.. . . .

G07 X1 ; Cancels the X–axis as the hypothetical axis.. .

Z–axis lead = 100

100.0

1181.102

88.4666

B–62082E/04

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

3.9

POLAR COORDINA TE INTERPOLA TION (G12.1, G13.1)

The function in which contour control is done in converting the command programmed in a cartesian coordinate system to the movement of a linear axis (movement of a tool) and the movement of a rotary axis (rotation of a workpiece) is the polar coordinate interpolation. It is an effective function when a straight line groove is cut on the outer diameter of a workpiece or when a cam shaft is ground. Whether the polar coordinate interpolation is done or not is commanded by a G code.

G12.1; Polar coordinate interpolation mode

(Polar coordinate interpolation shall be done.)

G13.1; Polar coordinate interpolation cancel mode

(Polar coordinate interpolation is not done.)

These G codes shall be commanded in a single block.

1) Polar coordinate interpolation mode (G12.1) The axes (linear axis and rotary axis) on which polar coordinate interpolation is done are set beforehand by parameters. Change the mode to polar coordinate interpolation mode by commanding G12.1, and a plane (hereinafter referred to as polar coordinate interpolation plane) is selected in which linear axis is made to the first axis of the plane, and virtual axis being a right angle with the linear axis is made to the second axis of the plane. Polar coordinate interpolation is carried out on this plane. In the polar coordinate interpolation made, the command of linear interpolation (G01) and circular interpolation (G02, G03) is possible. And both absolute command (G90) and incremental command (G91) are possible. For the program command it is possible to apply cutter compensation. For the path after cutter compensation is done, polar coordinate interpolation can be made. As for feedrate, specify the tangential speed (relative speed between the workpiece and the tool) on the polar coordinate interpolation plane (cartesian coordinate system) with F.

2) Polar coordinate interpolation cancel mode (G13.1) The polar coordinate interpolation cancel mode is obtained by G13.1 command.

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

3) Example of a program Polar coordinate interpolation by X axis (Linear axis) and C axis (Rotary axis)

C (Virtual axis)

N204

N205

N206

Fig. 3.9

N203

N208

N207

C axis

N202

Path after cutter compensation

Programmed path

N201

N200

Tool

X axis

Z axis

(X axis is diameter programming and C axis is radius programming)

O0001; : N100 G90 G00 X120.0 C0 Z_ ; N200 G12.1; N201 G42 G01 X40.0 F_ D01

Positioning to the starting position Starting polar coordinate interpolation

; N202 C10.0; N203 G03 X20.0 C20.0 R10.0 ; N204 G01 X-40.0 ; N205 C-10.0 ;

Contour program (Program in cartesian coordinate system of X-C plane)

N206 G03 X-20.0 C-20.0 I10.0 K0 ; N207 G01 X40.0 ; N208 C0 ; N209 G40 X120.0 ; N210 G13.1 ;

Canceling polar coordinate interpolation

N300 Z_ ; N400 X_ C_ ; : M30 ;

B–62082E/04

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

3.10

CYLINDRICAL INTERPOLATION (G07.1)

When the form on the expanded side view of a cylinder (from on the cylinder coordinate system) is commanded by a program command, the NC converts the form into a linear axis movement and a rotary axis movement then performs a contour control. This feature is called the cylindrical interpolation. Cylindrical interpolation is commanded with G07.1.

G07.1 (Name of rotary axis) Radius value of cylinder ; :

Cylindrical interpolation mode

G07.1 (Name of rotary axis) 0 ; : Cancellation mode of cylindrical

interpolation

1) Cylindrical interpolation mode Cylindrical interpolation is made between the rotary axis specified in the block of G07.1 and the other optional linear axis. Circle interpolation command is allowed as well as linear interpolation, during cylindrical interpolation mode. Also, absolute command and incremental command can be made. Cutter compensation can be added to the program command. Cylindrical interpolation is made for the path after cutter compensation. Feed rate gives the tangential speed on the expanded plane of the cylinder with F.

2) Cancellation mode of cylindrical interpolation

G07.1 (Name of rotary axis) 0;

Cancellation mode of cylindrical interpolation is made when commanded as above.

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

3) An example of a program O0001 (CYLINDRICAL INTERPOLATION);

N1 G00 G90 Z100.0 C0; N2 G01 G18 Z0 C0; N3 G7.1 C57299; N4 G01 G42 Z120.0 D01 F250; N5 G40.0; N6 G02 Z90.0 C60.0 R30.0 ; N7 G01 Z70.0; N8 G03 Z60.0 C70.0 R10.0; N9 G01 C150.0; N10 G03 Z70.0 C190.0 R75.0; N11 G01 Z110.0 C230.0; N12 G02 Z120.0 C270.0 R75.0; N13 G01 G360.0; N14 G40 Z100.0; N15 G07.1 C0; N16 M30;

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mm 120

90 70

Fig. 3.10 (a)

150

Fig. 3.10 (b)

230190

270

360

deg

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NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

3.11

EXPONENTIAL FUNCTION INTERPOLATION (G02.3, G03.3)

In synchronization with the travel of the rotary axis, the linear axis (X axis) performs the exponential function interpolation. With the other axes, the linear interpolation the X axis is performed. This function is effective for the tapered constant helix machining in the tool grinding machine.

X (Linear axis)

∆X

Tapered constant helix machining

∆A

(Rotary axis)

Fig. 3.11

The exponential function relation expression between the linear axis and the rotary axis is defined as in the following :

X (θ) = R * (e

A (θ) = (–1)

– 1) *

* 360 *

tan (I)

2π

Travel of linear axis (1). . . . .

Travel of rotation axis(2). . . . .

where

tan (J)

K =

tan (I)

ω = 0 or 1 Rotational direction. . . . .

R, I, J are constant and θ is the angle (radian) of rotation. Also from the equation (1),

θ (X) = K * ȏn {

X * tan (I)

+ 1}

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

Equations (1) and (2) shall be specified by the following formats :

(Positive rotation) ω=0

G02.3 X_Y_ Z_ I_ J_ K_ R_ F_ Q_ ;

(Negative rotation) ω=1

G03.3 X_Y_ Z_ I_ J_ K_ R_ F_ Q_ ;

X_ ; Command terminal point by Absolute or incremental Y_ ; Command terminal point by Absolute or incremental Z_ ; Command terminal point by Absolute or incremental I_ ; Command of angle I (The command unit is based on the

reference axis. The range of command is 1 to 89°)

J_ ; Command of angle J (The command unit is based on the

reference axis. The range of command is 1 to 89°)

K_ ; Amount of division of the linear axis in the exponential

function interpolation (amount of span). (The command unit is based on the reference axis. The command range is a positive value.)

R_ ; Command of constant value R in the exponential function

interpolation. (The command unit is based on the reference axis.)

F_ ; Command of initial feed rate.

The command is the same as the normal F code. The feed rate shall be given by the synthesized speed including the rotary axis.

Q_ ; Command of feed rate at terminal point.

The command unit is based on the reference axis. Within the NC, the tool is interpolated between the initial feedrate (F_) and final feedrate (Q_) depending on the amount of X axis travel.

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NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

3.12

CIRCULAR THREADING B (G02.1, G03.1)

Circular interpolation is made between two axes and simultaneously linear interpolation is made beween the optional two axes and the long axis of circle interpolation in the circular threading B. This circular thread cutting is not the one that the tool is moved in synchronization with rotation of the spindle (work) of the spindle motor, but the one that the sarvo motor controls the rotation of the workpiece. Therefore, it is effective for thread cutting in the same pitch on the barrel type surface, grooving, tool grinding, and etc. The speed along the long axis of the circle shall be specified as the feed rate.

Format

G17 Xp_ _ Yp_ _ α_ _ β_ _ F_ _ ;

G18 Zp_ _ Xp_ _ α_ _ β_ _ F_ _ ;

G19 Yp_ _ Zp_ _ α_ _ β_ _ F_ _ ;

G02.1 G03.1

I_ _ J_ _ R_ _

Xp–Yp plane

K_ _ I_ _ R_ _

Zp–Xp plane

J_ _ K_ _ R_ _

Yp–Zp plane

where α, β : Optional 2 axes other than circular interpolation

Start point

Arc center

Fig. 3.12

End point

(Zp, Xp)

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

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3.13

INVOLUTE INTERPOLATION

With the following command, the involute curve machining can be performed. Approximate involute curve with a minute straight line or arc is not needed. Therefore, the programming becomes simple and reduces the tape length. The distribution of the pulse will not be interrupted during the continuous minute block high speed operation, so fast, smooth involute curve machining is possible.

Format

G17 Xp_ _ Yp_ _ I_ _ J_ _ R_ _ F_ _;

G18 Zp_ _ Xp_ _ K_ _ I_ _ R_ _ F_ _;

G19 Yp_ _ Zp_ _ J_ _ K_ _ R_ _ F_ _;

G02.2 G03.2

Xp–Yp plane

G02.2 G03.2

Zp–Xp plane

G02.2 G03.2

G02.2 : Clockwise involute interpolation G03.2 : Counterclockwise involute interpolation Xp, Y p, Zp : End point coordinate value I, J, K : Distance to the center of the basic circle of the involute

curve from start point R : Radius of basic circle F : Cutting feedrate

Yp–Zp plane

Start point

(I, J)

Basic circle

Fig. 3.13 (a) Clockwise involute interpolation

End point (X, Y)

Basic circle

End point (X, Y)

Start point

(I, J)

Fig. 3.13 (b) Counterclockwise involute interpolation

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NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

The cutter compensation can be applied to the commanded involute curve. The intersecting point vector of a straight line or circular arc and an involute curve is obtained and the offset involute curve is interpolated.

3.14

HELICAL INVOLUTE INTERPOLATION

Involute curve after offset

Command involute curve

Basic circle

Fig. 3.13 (c) Cutter compensation and involute interpolation

Offset vector

Tools

Command straight line

Helical involute interpolation is a similar to helical interpolation used for circular interpolation. Helical involute interpolation allows the manipulation of the tool along two axes for involute interpolation and along a maximum of four other axes concurrently.

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

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3.15

SPLINE INTERPOLATION

Spline interpolation is prepared for machining of spline curve passing a specific dot–string. A smooth curve passing a dot–strings can be machined with this function. The spline curve obtained by spline interpolation has the following characteristics.

(i) The spline curve passes through all command points. (ii) The curves of the connecting line vector before and after, coincides

at all command points except for start point and end point.

(iii) The curvature before and after coincided with the command point

except for start point and end point.

Format

G06.1 X_ Y_ Z_ I_ K_ P_ Q_ R_ F_ ;

X : Mantissa of the X–axis component of primary differential vector at

start point.

Y : Mantissa of the Y–axis component of primary differential vector at

start point.

Z : Mantissa of the Z–axis component of primary differential vector at

start point.

I : Mantissa of the X–axis component of secondary differential

vector at start point.

J : Mantissa of the Y–axis component of secondary differential

vector at start point.

K : Mantissa of the Z–axis component of secondary differential

vector at start point.

P : Exponent of X–axis component of primary and secondary

differential vectors.

Q : Exponent of Y–axis component of primary and secondary

differential vectors.

R : Exponent of Z–axis component of primary and secondary

differential vector .

F : Feedrate

B–62082E/04

NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

(Example)

G01 X – – Y – – Z – – F – – ; (P G06.1 X – – Y – – Z – – I – – J – – K – – P – – Q – – R – – F – – ; X – – Y – – Z – – ; (P X – – Y – – Z – – ; (P X – – Y – – Z – – ; (P X – – Y – – Z – – ; (P X – – Y – – Z – – ; (P G00 X – – Y – – Z – – ;

P4P

(X, Y, Z)

(I, J, K)

)

3.16

SPIRAL INTERPOLATION AND CONICAL INTERPOLATION

Spiral interpolation can be carried out when the circular interpolation command is specified together with the number of circles of the helix or a radius increment or decrement per circle. Conical interpolation can be carried out when the spiral interpolation command is specified together with commands specifying a movement along another axis and an increment or decrement along the axis per circle of the helix.

3. INTERPOLA TION FUNCTIONS

NC FUNCTIONS

B–62082E/04

3.17

SMOOTH INTERPOLATION FUNCTION

To machine a part having sculptured surfaces, such as metal moldings used in automobiles and airplanes, a part program usually approximates the sculptured surfaces with minute line segments. As shown in the following figure, a sculptured curve is normally approximated using line segments with a tolerance of about 10µm.

Enlarged

: Specified point

10µm

When a program approximates a sculptured curve with line segments, the length of each segment differs between those portions that have mainly a small radius of curvature and those that have mainly a large radius of curvature. The length of the line segments is short in those portions having a small radius of curvature, while it is long in those portions having a large radius of curvature. The high-precision contour control of the FANUC Series 15 moves the tool along a programmed path thus enabling highly precise machining. This means that the tool movement precisely follows the line segments used to approximate a sculptured curve. This may result in a non-smooth machined curve if control is applied to machining a curve where the radius of curvature is large and changes only gradually . Although this ef fect is caused by high-precision machining, which precisely follows a pre- programmed path, the uneven corners that result will be judged unsatisfactory when smooth surfaces are required.

Profile Portions having mainly a

small radius of curvature

Example of machined parts

Length of line segment

Resulting surfaces produced using high-precision contour control

Automobile parts Decorative parts, such as

Short Long

Smooth surface even when machining is performed exactly as specified by a program

Portions having mainly a large radius of curvature

body side moldings

Uneven surfaces may result when machining is performed exactly as specified by a program

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NC FUNCTIONS

3. INTERPOLA TION FUNCTIONS

Example of uneven surfaces (polygon) resulting from machining that

precisely follows the line segments

The smooth interpolation function enables high- speed, high- precision machining, as follows: The CNC automatically selects either of two types of machining according to the program command.

D For those portions where the accuracy of the figure is critical, such as

at corners, machining is performed exactly as specified by the program command.

D For those portions having a large radius of curvature where a smooth

figure must be created, points along the machining path are interpolated with a smooth curve, calculated from the polygonal lines specified with the program command (smooth interpolation).

Use the following command to specify smooth interpolation mode: G05.1 Q2 X0 Y0 Z0 ; The CNC automatically selects either of the above machining types, according to the program command. If a block specifies a travel distance or direction which differs greatly from that in the preceding block, smooth interpolation is not performed for that block, but linear interpolation is performed exactly as specified by the program command. Programming is thus very simple.

3. INTERPOLA TION FUNCTIONS

Example



N17

NC FUNCTIONS

Interpolated by smooth curve

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Interpolated by smoothcurve

Linear interpolation

N17

N16

N15

N14

N13

N12

N1 1

N10

Linear interpolation

N1 1

N10

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THREAD CUTTING

NC FUNCTIONS

4. THREAD CUTTING

In ut in inches

NC FUNCTIONS

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4.1

EQUAL LEAD THREAD CUTTING (G33)

By feeding the tool synchronizing with the spindle rotation, thread cutting of the specified lead is performed. Specify lead of the long axis (an axis along which the tool travels longest distance) direction with the F code.

Table 4.1

Increment Allowable range of lead

0.01 mm 0.0001 to 5000.0000 mm/rev

0.001 mm 0.00001 to 500.00000 mm/rev

Input in millimeters

0.0001 mm 0.000001 to 50.000000 mm/rev

0.00001 mm 0.0000001 to 5.0000000 mm/rev

0.000001 mm 0.00000001 to 0.50000000 mm/rev

0.001 inch 0.00001 to 500.00000 inch/rev

0.0001 inch 0.000001 to 50.000000 inch/rev

0.00001 inch 0.0000001 to 5.0000000 inch/rev

0.000001 inch 0.00000001 to 0.50000000 inch/rev

The spindle must be equipped with a position coder. Thread cutting start position (the starting point of the thread cutting, synchronizing with the spindle rotation) can be shifted. This is useful when cutting multiple thread. Specify the desired angle with Q.

Format

G33 _ _ F_ _ Q_ _ ;

where

F_ _ : Lead of the long axis Q_ _ : Shift angle of thread start position (0° to 360°)

NOTE

Leads exceeding the cutting feed speed when converted to per minute feed speed cannot be specified.

B–62082E/04

NC FUNCTIONS

4. THREAD CUTTING

4.2

INCH THREAD CUTTING (G33)

4.3

CONTINUOUS THREAD CUTTING

By specifying threads per inch of the long axis by the E code, inch thread cutting is performed. Thread cutting start position can be shifted.

Format

G33 _ _ E_ _ Q_ _ ;

where

E_ _ : Threads per inch of the long axis

Continuous thread cutting in which thread cutting command blocks are continuously commanded is available. As it is controlled so that the spindle synchronism shift (occurred when shifting from one block to another) is kept to a minimum, special threads like threads which leads or shape change during the cycle can also be cut.

G33

Fig. 4.3

5. FEED FUNCTIONS

FEED FUNCTIONS

NC FUNCTIONS

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NC FUNCTIONS

5. FEED FUNCTIONS

5.1

RAPID TRAVERSE

Positioning of each axis is done in rapid motion by the positioning command (G00). There is no need to program rapid traverse rate, because the rates are set in the parameter (per axis).

Table 5.1

Machine of mm system

Machine of inch system

Least command

increment

0.01 mm 40 to 2400000 mm/min, deg/min

0.001 mm 4 to 240000 mm/min, deg/min

0.0001 mm 0.4 to 100000 mm/min, deg/min

0.00001 mm 0.04 to 10000 mm/min, deg/min

0.000001 mm 0.004 to 1000 mm/min, deg/min

0.001 inch 4 to 240000 inch/min

0.0001 inch 0.4 to 24000 inch/min

0.00001 inch 0.04 to 10000 inch/min

0.000001 inch 0.004 to 1000 inch/min

Rapid traverse rate range

0.0000001 inch 0.0004 to 100 inch/min

5. FEED FUNCTIONS

In ut in mm

system

In ut in inch

system

In ut in mm

system

In ut in inch

system

NC FUNCTIONS

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5.2

CUTTING FEEDRATE

5.2.1

Tangential Speed Constant Control

5.2.2

Cutting Feedrate Clamp

5.2.3

Per Minute Feed (G94)

Feedrates of linear interpolation (G01), and circular interpolation (G02, G03) are commanded with numbers after the F code.

In cutting feed, it is controlled so that speed of the tangential direction is always the same commanded speed.

Cutting feedrate upper limit can be set as parameters of each axis. If the actual cutting feedrate (feedrate with override) is commanded exceeding the upper limit, it is clamped to a speed not exceeding the upper limit.

With the per minute feed mode G94, tool feedrate per minute is directly commanded by numerical value after F.

Table 5.2.3

Least command

increment

0.01 mm 0.0001 to 2400000 mm/min, deg/min

Cutting feedrate range

Machine of mm

Machine of inch

0.001 mm 0.0001 to 240000 mm/min, deg/min

0.0001 mm 0.0001 to 100000 mm/min, deg/min

0.00001 mm 0.0001 to 10000 mm/min, deg/min

0.000001 mm 0.0001 to 1000 mm/min, deg/min

0.001 inch 0.00001 to 240000 inch/min

0.0001 inch 0.00001 to 24000 inch/min

0.00001 inch 0.00001 to 10000 inch/min

0.000001 inch 0.00001 to 1000 inch/min

0.0000001 inch 0.00001 to 100 inch/min

0.01 mm 0.0001 to 2400000 mm/min, deg/min

0.001 mm 0.0001 to 240000 mm/min, deg/min

0.0001 mm 0.0001 to 100000 mm/min, deg/min

0.00001 mm 0.0001 to 10000 mm/min, deg/min

0.000001 mm 0.0001 to 1000 mm/min, deg/min

0.001 inch 0.00001 to 96000 inch/min

Machine of mm

0.0001 inch 0.00001 to 9600 inch/min

0.00001 inch 0.00001 to 4000 inch/min

0.000001 inch 0.00001 to 400 inch/min

0.0000001 inch 0.00001 to 40 inch/min

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NC FUNCTIONS

5. FEED FUNCTIONS

5.2.4

Per Revolution Feed (G95)

5.2.5

Inverse Time Feed (G93)

With the per revolution feed mode G95, tool feedrate per revolution of the spindle is directly commanded by numeral after F . A position coder must be mounted on the spindle.

Table. 5.2.4

Least command

increment

0.01 mm or deg

0.001 mm or deg

0.0001 mm or deg

0.00001 mm or deg

0.001 inch

0.0001 inch

0.00001 inch

0.000001 inch

0.0001 to5000.0000 mm/rev or deg/rev

0.00001 to 500.00000 mm/rev or deg/rev

0.000001 to 50.000000 mm/rev or deg/rev

0.0000001 to 5.0000000 mm/rev or deg/rev

0.00001 to 500.0000 inch/rev

0.000001 to 50.00000 inch/rev

0.0000001 to 5.000000 inch/rev

0.00000001 to 0.50000000 inch/rev

Cutting feedrate range

The above feedrates are limits according to the NC’s interpolation capacity. When the whole system is considered, there are also limits according to the servo system.

Inverse time feed mode is commanded by G93, and inverse time by F code. Inverse time is commanded with the following value in a 1/min unit.

In linear interpolation F= Speed/distance In circular interpolation F= Speed/radius

Command F0 for rapid traverse.

5.2.6

F1–digit Feed

When a 1-digit number from 1 to 9 is commanded after the F, the preset speed corresponding the 1-digit number commanded is set as feedrate. Set the F1-digit feedrate change input signal on from the machine side, and rotate the manual pulse generator. Feedrate of the currently selected speed can be changed. Feedrate set or changed will be memorized even after power is turned off.

5. FEED FUNCTIONS

5.3

OVERRIDE

NC FUNCTIONS

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5.3.1

Feedrate Override

5.3.2

Second Feedrate Override

5.3.3

Second Feedrate Override B

The per minute feed (G94), per rotation feed (G95) and the inverse time feed (G93) can be overrided by:

0 to 254% (per every 1%). In inverse time, feedrate converted to per minute feed is overridden. Feedrate override cannot be performed to F1-digit feed. Feedrate also cannot be performed to functions as thread cutting and tapping in which override is inhibited.

All cutting feedrate can be overrided by:

0 to 254% (per every 1%) A second override can be performed on feed rats once overrided. No override can be performed on functions as thread cutting and tapping in which override is inhibited. This function is used for controlling feedrate in adaptive control, etc.

This function selects the second feedrate override in the range from 0 to

655.34 with 0.01% increments.

5.3.4

Rapid Traverse Override

5.3.5

Function for Overriding the Rapid Traverse Feedrate in 1% Unit

5.3.6

Override Cancel

Rapid traverse rate can be overridden by:

F0, F1, 50, 100%

F0: A constant speed per axis can be set by parameter F1: A constant % can be set by parameter

This function overrides the rapid traverse feedrate with a value (1% units) entered from the machine operator’s panel in the range from 0% to 100%. By specifying the ROV8 bit of parameter 1402, the override selected by this function can be switched to and from the standard override for the rapid traverse feedrate (F0, Fn, 50%, 100%).

Feedrate override and the second feedrate override can be clamped to 100% by a signal from the machine side.

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NC FUNCTIONS

5. FEED FUNCTIONS

5.4

AUTOMATIC ACCELERATION/ DECELERATION

Acceleration and deceleration is performed when starting and ending movement, resulting in smooth start and stop. Automatic acceleration/deceleration is also performed when feedrate changes, so change in speed is also smoothly done.

Rapid traverse : Linear acceleration/deceleration

(time constant is parameter set per axis)

Cutting feed : Exponential acceleration/deceleration

(time constant is parameter set common to all axes)

Jog feed : Exponential acceleration/deceleration

(time constant is parameter set per axis)

: Rapid traverse

RMAX

: Acceleration/deceleration

Rapid traverse

Speed F

RMAX

time constant

Time

JOG feed

Speed

Feed, Dry run

Speed

FJ: Jog feedrate TJ: Jog feed time constant FL: Low feedrate after deceleration

FC: Feedrate TC: Acceleration/deceleration

time constant

Fig. 5.4

Time

5. FEED FUNCTIONS

5.5

LINEAR ACCELERATION/ DECELERATION AFTER CUTTING FEED INTERPOLATION

NC FUNCTIONS

Speed

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Fig. 5.5 (a)

Time

In the linear acceleration/deceleration, the delay for the command caused by the acceleration/deceleration becomes 1/2 compared with that in exponential acceleration/deceleration, substantially reducing the time required for acceleration and deceleration. Also, the radius direction error in the circular interpolation caused by the acceleration/deceleration is substantially reduced.

∆r

∆r: Maximum value of radius

Command path

Actual path

error (mm) v : Feedrate (mm/sec) r : Circular radius (mm)

: Acceleration/

deceleration time constant (sec)

: Time constant of servo

motor (sec)

Fig. 5.5 (b)

The maximum value of error in this radius direction is obtained approximately by the following equation.

r + (

1 2

)

For exponential acceleration/deceleration. . . . .

For linear acceleration/deceleration after . . . . .

cutting feed interpolation

Consequently, in case of the linear acceleration/deceleration after interpolation, if an error caused by the servo loop time constant is excluded, the radius directional error will be reduced to 1/12, compared with the exponential acceleration/deceleration.

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5.6

BELL–SHAPED ACCELERATION/ DECELERATION AFTER CUTTING FEED INTERPOLATION

NC FUNCTIONS

Feedrate

F 2

5. FEED FUNCTIONS

Time

Fig. 5.6

As shown above in the quadratic curve, it is possible to accelerate and decelerate the cutting feedrate. When the acceleration and deceleration section are connected, the composed curve shapes just like a hanging bell. That is why this kind of acceleration/deceleration is called bell–shaped acceleration/deceleration. Considering a time constant as T c (time spent to accelerate from feedrate 0 up to commanded feedrate F or time spent to decelerate from commanded feedrate F down to feedrate 0), feedrate accelerates up to 1/2 of the commanded feedrate (F/2) for 1/2 of the time constant (T c/2). The acceleration/deceleration curve 0A shown in the figure above can be expressed by the following equation :

f(t) +

The curve AB and 0A are symmetric with respect to point A. The feature of this acceleration/deceleration is that the feedrate change is small near feedrate 0 and the commanded feedrate.

5. FEED FUNCTIONS

NC FUNCTIONS

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5.7

ACCELERATION/ DECELERATION BEFORE CUTTING FEED

D Exponential

acceleration/deceleration after feed interpolation

Interpolation

(pulse distribution)

D Linear acceleration/

deceleration after feed interpolation

In response to the cutting feed command, the feedrate before interpolation, that is, the command feedrate can be directly accelerated/ decelerated. This enables a machined shape error caused by the delay of acceleration/deceleration to be eliminated. However, the deceleration command (G09) needs to be given to the block requiring deceleration such as a corner by the program.

Acceleration/ deceleration control

Servo control

Motor

D Linear acceleration/

deceleration before feed interpolation

Acceleration/deceleration applied to feedrate command

Servo

control

Servo control

Motor

B–62082E/04

NC FUNCTIONS

5. FEED FUNCTIONS

5.8

ACCELERA TION/ DECELERA TION BEFORE PRE–READ INTERPOLATION

5.9

BELL–SHAPED ACCELERATION/ DECELERATION AFTER RAPID TRAVERSE INTERPOLATION

Acceleration/deceleration before Pre–read Interpolation has the advantage that there is no machined shape error caused by the delay of acceleration/deceleration. However, the deceleration command (G09) must be given to the block such as a corner with a large speed change of either axis. Therefore, it has the disadvantage that acceleration/ deceleration needs to be considered by program commands. However, this function allows automatic judgement of whether the speed is decelerated by reading the command up to 15 blocks ahead, thus making it unnecessary to consider acceleration/deceleration during creation of program commands and eliminating any machined shape error caused by the delay of acceleration/deceleration.

The function for bell–shaped acceleration/deceleration after rapid traverse interpolation increases or decreases the rapid traverse feedrate smoothly. This reduces the shock to the machine system due to changing acceleration when the feedrate is changed. As compared with linear acceleration/deceleration, bell–shaped acceleration/deceleration allows smaller time constants to be set, reducing the time required for acceleration/deceleration.

Linear acceleration/deceleration for rapid traverse

Feedrate

Time

Acceleration

Time

Bell–shaped acceleration/ deceleration for rapid traverse

Feedrate

Time

Acceleration

Time

5.10

CUTTING POINT SPEED CONTROL FUNCTION

The cutting point speed control function is used when circular interpolation is performed in the cutter compensation C mode. This function allows a programmed feedrate to be used as the feedrate at the cutting point rather than the feedrate at the center of the tool. This function is enabled or disabled by setting the CAFC bit of parameter

1402.

5. FEED FUNCTIONS

NC FUNCTIONS

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5.11

ACCELERATION/ DECELERATION FUNCTION FOR THE CONSTANT SPEED SPECIFIED BY THE PMC AXIS CONTROL FUNCTION

PMC

Axis control

Constant speed command

Stop

command

Axis control block data signal

Constant speed command Rotation speed data Axis control data

BMI

Speed command

skip signal

This function accelerates and decelerates the machining feedrate to maintain the speed specified by the PMC axis control function throughout the cutting process. This function linearly accelerates and decelerates the tool to ensure smooth operation during the entire cutting process. Also, when the feedrate changes in the middle of the cutting process, this function automatically accelerates or decelerates the speed to prevent irregular tool movement.

CNC

Axis control

(rotation axis)

Constant

speed

control

Signal

monitoring

Acceleration/

deceleration

control

When this signal turns on, the constant speed rotation discontinues.

Servo

control

Motor

Fig. 5.11 Block diagram of system operation when the constant speed is specified

5.12

EXACT STOP (G09)

5.13

CUTTING/RAPID TRA VERSE POSITION CHECK FUNCTION

5.14

EXACT STOP MODE (G61)

5.15

CUTTING MODE (G64)

Move command in blocks commanded with G09 decelerates at the end point, and inposition check is performed. G09 command is not necessary for deceleration at the end point for positioning (G00) and inposition check is also done automatically . This function is used when sharp edges are required for workpiece corners in cutting feed.

In a block in which a positioning block or an exact stop command is specified, such as a cutting feed block, the cutting speed is decelerated at the end of the block to perform the position check. The cutting/rapid traverse position check function allows the operator to set the effective area size. Using this function, a small effective area can be specified for cutting feed blocks requiring accuracy and a large effective area can be specified for positioning blocks requiring a shorter positioning time.

When G61 is commanded, deceleration of cutting feed command at the end point and inposition check is performed per block thereafter. This G61 is valid till G64 (cutting mode), G62 (automatic corner override), or G63 (tapping mode) is commanded.

When G64 is commanded, deceleration at the end point of each block thereafter is not performed and cutting goes on to the next block. This command is valid till G61 (exact stop mode), G62 (automatic corner override), or G63 (tapping mode) is commanded.

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5. FEED FUNCTIONS

5.16

T APPING MODE (G63)

5.17

AUTOMATIC CORNER OVERRIDE (G62)

5.18

DWELL (G04)

When G63 is commanded, feedrate override is ignored (always regarded as 100%), and feed hold also becomes invalid. Cutting feed does not decelerate at the end of block to transfer to the next block. And in-tapping mode signal is issued during tapping operation. This G63 is valid till G61 (exact stop mode), G62 (automatic corner override), or G64 (cutting mode) is commanded.

When G62 is commanded during cutter compensation, cutting feedrate is automatically overridden at corner. The cutting quantity per unit time of the corner is thus controlled not to increase. This G62 is valid till G61 (exact stop mode), G64 (cutting mode), or G63 (tapping mode) is commanded.

With the G04 command, shifting to the next block can be delayed. When commanded with a per minute feed mode (G94), shifting to the next block can be delayed for the commanded minutes. When commanded with a per rotation feed mode (G95), shifting to the next block can be delayed till the spindle rotates for the commanded times. Dwell may always be performed by time irrespective of G94 and G95 by parameter selection.

5.19

FEED PER ROTATION WITHOUT A POSITION CODER

Format

Per second dwell

G94 G04

P_ _ or X_ _: Dwell time commanded in seconds

Per revolution dwell

G95 G04

P_ _ or X_ _: Spindle rotation angle commanded in rev.

This function provided for machines that do not have (or use) a position coder. When a feedrate is specified in the feed–per–rotation mode, it is converted to a feedrate in the feed–per–minute mode on the assumption that the spindle turns according to the spindle speed command (S code). The tool is then moved along the feed axis at the converted feedrate.

Example)

G95 G01 F1. S1000 Z100. ; When the above command is specified, the tool is moved along the Z–axis at F1000 in the feed–per–minute mode [mm/min], on the assumption that the spindle turns at 1000 revolutions per minute.

P_ _ X_ _

;

(0.001 to 99999.999 sec)

;

(0.001 to 99999.999 rev)

NOTE

In this function, S1 corresponds to one rpm.

6. REFERENCE POSITION

REFERENCE POSITION

NC FUNCTIONS

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6. REFERENCE POSITION

6.1

MANUAL REFERENCE POSITION RETURN

Positioning to the reference position can be done by manual operation. With jogging mode (J), manual reference point return (ZRN) signals, and signal for selecting manual reference position return axis (J1 to J6) on, the tool begins to move at rapid traverse. When deceleration limit switch mounted on the machine is turned on, it decelerates, and when it is turned off again, it stops at the first grid point, and reference position return end lamp lights. This point is the reference position. By performing manual reference position return, the machine coordinate system and the work coordinate system is established. There are the following two methods to perform manual reference position return:

1) Grid method A certain grid of the position detection is appointed as the reference position. The reference position can be shifted by the grid shift function.

2) Magne–switch method The rise point of the proximity switch on the machine is appointed as the reference position.

6. REFERENCE POSITION

NC FUNCTIONS

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6.2

AUTOMATIC REFERENCE POSITION RETURN (G28, G29)

1) Return to reference position (G28) With the G28 command, the commanded axis is positioned to the reference position via the commanded point. After positioning, the reference position return end lamp lights. If G28 was commanded when reference position return is not performed after power on, reference position return is done in the same sequence as the manual reference position return.

Format

G28 _ _ ;



_ _ : Command intermediate point



2) Return from reference position (G29) With the G29 command, the commanded axis is positioned to the point commanded by G29, via the intermediate point commanded by G28.

Format

G29 _ _ ;

Reference position

Suppose tool change was performed at R.

Intermediate

point

As seen from the above example, the programmer need not calculate a concrete movement value from the intermediate point to the reference position.

Fig. 6.2 Example of use of G28 and G29

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NC FUNCTIONS

6. REFERENCE POSITION

6.3

REFERENCE POSITION RETURN CHECK (G27)

6.4

2ND, 3RD AND 4TH REFERENCE POINT RETURN (G30)

This function is used to check whether the reference position return command was performed correctly. When G27 is commanded, the commanded axis is positioned to the specified position, reference position return end lamp lights if reference position return is performed to the correct position, and alarm arises it is not positioned correctly to the reference position. This function is available after power is turned on and reference position return is performed.

Format

G27 _ _ ;

With the G30 command, the commanded axis is positioned to the 2nd, 3rd, or the 4th reference position, via the commanded point. 2nd, 3rd, or 4th reference position return lamp lights when positioning ends. Set the 2nd, 3rd, and 4th reference position position as parameters. This function is available after power is turned on and reference position return is performed. G29 can be used to return from the 2nd, 3rd, and 4th reference point (same as reference position return, G28).

Format

G30

where

P2 P3 P4

P2, P3, P4: Select from 2nd, 3rd, or 4th reference positions.

_ _ ;



If not selected, 2nd reference position return is automatically selected.

6. REFERENCE POSITION

NC FUNCTIONS

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6.5

FLOATING REFERENCE POSITION RETURN (G30.1)

It is possible to return the tool to the floating reference position by commanding the G30.1. The floating reference position is located on the machine and can be a reference position of some sort of machine operation. It is not always a fixed position but may vary in some cases. The floating reference position can be set using the soft keys of MDI and can be memorized even if the power is turned off. Generally, the position where the tools can be replaced on machining center, milling machine is a set position on top of the machinery. The tools cannot be replaced at any machine angle. Normally the tool replacement position is at any of the No. 1 to No. 4 reference position. The tool can be restored to these positions easily by G30 command. However, depending on the machine, the tools can be replaced at any position as long as it does not contact the workpiece. For machinery such as these, in order to reduce the cycle time, it is advantageous to replace tools at a position as close as possible to the workpiece. For this purpose, tool replacement position must be changed for each workpiece shape and this feature can be easily realized by this function. Namely, the tool replacement position which is suitable for workpiece can be memorized as the floating reference position and it is possible to return the tool to the tool replacement position easily by commanding the G30.1.

Format

G30.1 _ ;

, however _ : It is the intermediate point to the floating reference position and is commanded by an absolute value or an incremental value.

When the G30.1 is commanded, the axis commanded is set to the intermediate point with rapid traverse at first and then is set to the floating reference position from the intermediate point with rapid traverse. The positioning to the intermediate point or to the floating point is performed at rapid traverse for each axis (non-linear positioning). When the BMI interface is used, the floating reference position return completion signal is output after completing the floating reference position return.



G30.1 G90 X50.0 Y40.0 ;

Intermediate point (50, 40)

Workpiece

Floating reference position

Fig. 6.5 Example of use G30.1

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NC FUNCTIONS

6. REFERENCE POSITION

6.6

REFERENCE POSITION AUTOMATIC SETTING FUNCTION

[With no grid shift]

Limit switch

åå

When adjusting a deceleration dog, the user should be able to adequately match an electrical grid point with the machine zero point. When the automatic reference position setting function is used, the grid shift and software deceleration dog amount can be set automatically by moving from a grid point where a stop is to take place, to the machine zero point. This movement is made by turning on and off the automatic reference position setting signals (RAST1, RAST2, RAST3, ...) and by manual operation (jog feed, manual handle feed). In reference position return, the grid shift and software deceleration dog function as follows: When reference position return is performed, the tool stops at the position where the first grid signal was detected after the limit switch of the deceleration dog was passed. This position is the electrical stop position. It must match the machine zero point.

Direction of reference position return

Deceleration dog

Grid point ³

[After a grid shift us set]

Limit switch

Deceleration dog

To match the electrical stop position with the machine zero point, a grid shift is set automatically . From the electrical stop position, the grid point can be shifted by +1/2 of a grid point interval.

Direction of reference position return

åå

Stopped

Grid point ³

Stopped

Machine zero point

Shifted by grid shift

Machine zero point

Furthermore, a software deceleration dog is automatically set (software extension of the deceleration dog). The software deceleration dog can be used to match the electrical stop position with the machine zero point by turning off the deceleration dog 1/2 of grid point interval from the machine zero point.

6. REFERENCE POSITION

[After a grid shift and software deceleration dog are set]

Direction of reference position return

Limit switch

Deceleration dog

åå

Software deceleration dog

NC FUNCTIONS

1/2 of the grid point interval

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Stopped

Machine zero point

Grid point ³

6.7

DOG–LESS REFERENCE POSITION SETTING FUNCTION

The dog–less reference position setting function is used for cutting machines equipped with an absolute–position detector. This function allows the operator to set the reference point without the deceleration signal when manually moving the tool close to the reference point specified for each axis in the reference point return mode. Using this function, the reference point can be set at any desired position without using the reference point return deceleration signal.

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COORDINATE SYSTEMS

7. COORDINA TE SYSTEMS

NC FUNCTIONS

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7.1

MACHINE COORDINATE SYSTEM (G53)

7.2

WORKPIECE COORDINATE SYSTEM (G54 TO G59)

Machine coordinate system is a coordinate system set with a zero point proper to the machine system. A coordinate system in which the reference point becomes the parameter-preset coordinate value when manual reference point return is performed, is set. With G53 command, the machine coordinate system is selected and the axis is moved in rapid traverse to the position expressed by the machine coordinates.

Format

G53 _ _ ;

A coordinate system in which the zero point is set to a fixed point on the workpiece, to make programming simple. When actually machining, distance between machine coordinates’ zero point and work coordinates’ zero point is measured and set as workpiece zero point offset quantity via MDI. 6 type of workpiece coordinates can be set and selected with:

G54 – G59

Format

G54 G55 : G59



_ _ ;

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7. COORDINA TE SYSTEMS

7.3

LOCAL COORDINATE SYSTEM (G52)



Workpiece zero point offset value

With G52 commanded, the local coordinate system with the commanded position as zero point can be set. Coordinates once set is valid till a new G52 is commanded. This is used when, for example, programming of a part of the workpiece becomes easier if there is a zero point besides the workpice coordinates’ zero point.

Format

G52 _ ;

(Local coordinate system)

(Workpiece coordinate system1: G54)



(Local coordinate system)

(Workpiece coordinate system2: G55)



(Local coordinate system)

V alue set by parameter

Reference poisition

(Workpiece coordinate system6: G59)

(Machine coordinate system)

Zero point of machine coordinate system

Fig. 7.3

When local coordinate system is set, local coordinate system 1 - 6, corresponding to workpiece coordinate system 1 - 6 is set. Distance between zero points are all the same preset value. If G52 IP0; is commanded, local coordinate system is canceled.

7. COORDINA TE SYSTEMS

NC FUNCTIONS

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7.4

WORKPIECE COORDINATES SYSTEM CHANGE (G92)

With the



G92

_ _ ; command, workpiece coordinate system can be changed so that current position of the tool becomes the specified position.

YY’

160

100

Fig. 7.4

Tool position

100

200

7.5

WORKPIECE ORIGIN OFFSET VALUE CHANGE (PROGRAMMABLE DATA INPUT) (G10)

If G92 X100 Z100 ; is commanded when the tool is positioned at (200,

160) in G54 mode, workpiece coordinate system 1 (X’ – Y’) displaced by vector A is created. At the same time, workpiece coordinate system 2 to 6 shift by vector A. When creating a new workpiece coordinate system with the G92 command, since it is determined so that a certain point of the tool becomes a certain coordinate value, the new workpiece coordinate system can be determined irrespective of the old workpiece coordinate system. If the G92 command is used to determine a start point for machining based on workpieces, a new coordinate system can be created even if there is an error in the old workpiece coordinate system.

Six workpiece coordinate systems can be set. But, when that is still not enough, or when workpiece origin offset value must be set by tape or changed, this G10 command is used to change workpiece origin offsets. When G10 is commanded in subsolute command (G90), the commanded workpiece origin offsets becomes the new workpiece origin offsets, and when G10 is commanded in incremental command (G91), the currently set workpiece origin offsets plus the commanded workpiece origin offset becomes the new workpiece offsets.

Format

G10 L2 PP _ ;

where

PP: Specifiy workpiece coordinates to which offsetts are changed

: 1 to 6



: Workpiece origin offset value

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7. COORDINA TE SYSTEMS

7.6

ADDITIONAL WORKPIECE COORDINATE SYSTEMS (G54.1)

Forty-eight workpiece coordinate systems can be added when existing six workpiece coordinate systems (G54 - G59) are not enough for the operation. Make a command as follows for selection of workpiece coordinate system.

G54.1 P



.....;

P: 1 – 48 Number of the additional workpiece coordinate system The following are the methods of setting and changing of the workpiece origin offset value as well as those used for the existing workpiece coordinate systems of G54 to G59.

1) Method via CRT/MDI

2) Method via program

– G10L20Pp; – Custom macro

3) Method of external workpiece coordinate system shift The set workpiece origin offset value is displayed on the CR T. Also, the

set workpiece origin offset can be punched out.

WORK ZERO OFFSET O0001 N00100

P: 01 (G54.1) P: 03 (G54.1) X 123.456 X –111.111 Y 234.567 Y 222.222 Z 345.678 Z –333.333

P: 02 (G54.1) P: 04 (G54.1) X –123.456 X 111.111 Y 234.567 Y –222.222 Z –345.678 Z 333.333

(MM)

MDI *** STOP **** *** *** 09:53:47 LSK

INPUT +INPUT MEASURE TL_INP INP_NO.+

Fig. 7.6

7. COORDINA TE SYSTEMS

NC FUNCTIONS

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7.7

WORKPIECE COORDINATE SYSTEM PRESET (G92.1)

The workpiece coordinate system with its zero position away by the workpiece zero offset amount from the machine coordinate system zero position is set by returning the tool to the reference point by a manual operation. Also, when the absolute position detector is provided, the workpiece coordinate system is automatically set by reading the machine coordinate value from the detector when power on without performing manual reference point return operation. The set workpiece coordinate may shift by any of the following commands or operation:

a) When manual interruption is performed with the manual absolute

signal off b) When the travel command is performed by the machine lock c) When axis travel is performed by the handle interrupt or

auto/manual simultaneous operation d) When operation is performed by mirror image e) When the setting of local coordinate system is performed by the

G52 or change of workpiece coordinate system is performed by the

G92 f) When origin setting of workpiece coordinate system is performed

by the MDI operation

The workpiece coordinate system shifted by the above operation can be preset by the G code instruction or MDI operation the same as conventional manual reference point return.

1) Workpiece coordinate system preset by G code command The workpiece coordinate system can be preset by commanding the

Format

G92.1 0 ;



0 : The axis address to be preset the workpiece coordinate system



Uncommanded axis is not preset.

2) Workpiece coordinate system preset by MDI operation The workpiece coordinate system can be preset by the MDI operation with soft keys.

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7. COORDINA TE SYSTEMS

7.8

PLANE SWITCHING FUNCTION

This function switches a machining program created on the G17 plane in the right–hand Cartesian coordinate system to programs for other planes specified by G17.1Px commands, so that the same figure appears on each plane when viewed from the directions indicated by arrows.

Machine coordinate system

G17.1 P5

G17.1 P2

G17.1 P1 (G17)

G17.1 P4

G17.1 P3

8. COORDINATE VALUE AND DIMENSION

COORDINATE VALUE AND DIMENSION

NC FUNCTIONS

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NC FUNCTIONS

8. COORDINA TE VALUE AND DIMENSION

8.1

ABSOLUTE AND INCREMENTAL PROGRAMMING (G90, G91)

There are two ways to command travels to the axes; the absolute command, and the incremental command. In the absolute command, coordinate value of the end point is programmed; in the incremental command, move distance of the axis itself is programmed. G90 and G91 are used to command absolute or incremental command.

G90 : Absolute command G91 : Incremental command

End point

70.0

30.0

Fig. 8.1

100.040.0

Start point

For the above figure, incremental command programming results in:

G91X–60.0Y40.0 ;

while absolute command programming results in:

G90X40.0Y70.0 ;

8. COORDINATE VALUE AND DIMENSION

NC FUNCTIONS

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8.2

POLAR COORDINA TE COMMAND (G15, G16)

The end point coordinate value can be input in polar coordinates (radius and angle). Use G15, G16 for polar coordinates command.

G15 : Polar coordinate system command cancel

G16 : Polar coordinate system command Plane selection of the polar coordinates is done same as plane selection in circular interpolation, using G17, G18, G19. Command radius in the first axis of the selected plane, and angle in the second axis. For example, when the X-Y plane is selected, command radius with address X, and angle with address Y . The plus direction of the angle is counter clockwise direction of the selected plane first axis + direction, and the minus direction the clockwise direction. Both radius and angle can be commanded in either absolute or incremental command (G90, G91). The center of the polar coordinates is the zero point of the local coordinates.

Example) Bolt hole cycle

N1 G17 G90 G16; Polar coordinates command, X-Y plane

N2 G81 X100. Y30. Z-20. R-5. F200.; 100mm radius, 30° angle

N3 X100. Y150; 100mm radius, 150° angle

N4 X100. Y270; 100mm radius, 270° angle

N5 G15 G80; Polar coordinates cancel

8.3

INCH/METRIC CONVERSION (G20, G21)

Local coordinate

30°

system

150°

270°

100mm

Fig. 8.2

Conversion of inch and metric input can be commanded by the G code command.

G20 : Inch input

G21 : Metric input Whether the output is in inch system or metric system is parameter-set when the machine is installed. Command G20, G21 at the head of the program. Inch/metric conversation can also be done by MDI setting. The contents of setting data differs depending on whether G20 or G21 is commanded.

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NC FUNCTIONS

8. COORDINA TE VALUE AND DIMENSION

8.4

DECIMAL POINT INPUT/POCKET CALCULATOR TYPE DECIMAL POINT INPUT

8.5

DIAMETER AND RADIUS PROGRAMMING

Numerals can be input with decimal points. Decimal points can be used basically in numerals with units of distance, speed, and angle. The position of the decimal point is at the mm, inch, deg position. Use parameters to select input method; whether to input by pocket calculator type input, or by the former decimal point input.

Table 8.4

Program command

X1000 1000 mm 1mm x1000 1000 mm 1000 mm

Pocket calculator type

decimal point input

Format type decimal

point input

Since the work cross section is usually circular in latches, its dimensions can be specified in two ways when performing a thing:

X axis

1D2

Z axis

8.6

FUNCTION FOR SWITCHING BETWEEN DIAMETER AND RADIUS PROGRAMMING

, D

R1, R

Diameter programming. . . .

Radius programming. . . .

When the diameter is specified, it is called diameter programming, and when the radius is specified, it is called radius programming. The diameter programming or radius programming can be selected by parameter for each axis.

In diameter/radius programming, the DIAx bit (bit 3 of parameter 1006) specifies whether to use diameter or radius programming for each controlled axis. With this function, the G code can switch between diameter and radius programming for axis commands.

fanuc 15 B, 150 B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

PREFACE

Table of Contents

LIST OF SPECIFICATIONS

BASIC CONTROLLED AXES

BASIC SIMULTANEOUSLY CONTROLLABLE AXES

SIMULTANEOUSLY CONTROLLABLE AXES EXPANSION

PROGRAMMING AXIS NAME ADDITION

INCREMENT SYSTEM

MAXIMUM STROKE

PREPARATORY FUNCTIONS

INTERPOLATION FUNCTIONS

POSITIONING (G00)

SINGLE DIRECTION POSITIONING (G60)

CIRCULAR INTERPOLATION (G02, G03)

HELICAL INTERPOLATION (G02, G03)

HELICAL INTERPOLATION B (G02, G03)

HYPOTHETICAL AXIS INTERPOLATION (G07)

POLAR COORDINA TE INTERPOLA TION (G12.1, G13.1)

CYLINDRICAL INTERPOLATION (G07.1)

EXPONENTIAL FUNCTION INTERPOLATION (G02.3, G03.3)

CIRCULAR THREADING B (G02.1, G03.1)

INVOLUTE INTERPOLATION

HELICAL INVOLUTE INTERPOLATION

SPLINE INTERPOLATION

THREAD CUTTING

EQUAL LEAD THREAD CUTTING (G33)

INCH THREAD CUTTING (G33)

CONTINUOUS THREAD CUTTING

FEED FUNCTIONS

RAPID TRAVERSE

CUTTING FEEDRATE

Tangential Speed Constant Control

Cutting Feedrate Clamp

Per Minute Feed (G94)

Per Revolution Feed (G95)

Inverse Time Feed (G93)

OVERRIDE

Feedrate Override

Second Feedrate Override

Second Feedrate Override B

Rapid Traverse Override

Override Cancel

AUTOMATIC ACCELERATION/ DECELERATION

LINEAR ACCELERATION/ DECELERATION AFTER CUTTING FEED INTERPOLATION

ACCELERATION/ DECELERATION BEFORE CUTTING FEED

CUTTING POINT SPEED CONTROL FUNCTION

EXACT STOP (G09)

CUTTING/RAPID TRA VERSE POSITION CHECK FUNCTION

EXACT STOP MODE (G61)

CUTTING MODE (G64)

T APPING MODE (G63)

AUTOMATIC CORNER OVERRIDE (G62)

DWELL (G04)

FEED PER ROTATION WITHOUT A POSITION CODER

REFERENCE POSITION

MANUAL REFERENCE POSITION RETURN

AUTOMATIC REFERENCE POSITION RETURN (G28, G29)

REFERENCE POSITION RETURN CHECK (G27)

FLOATING REFERENCE POSITION RETURN (G30.1)

REFERENCE POSITION AUTOMATIC SETTING FUNCTION

COORDINATE SYSTEMS

MACHINE COORDINATE SYSTEM (G53)

WORKPIECE COORDINATE SYSTEM (G54 TO G59)

LOCAL COORDINATE SYSTEM (G52)

WORKPIECE COORDINATES SYSTEM CHANGE (G92)

WORKPIECE ORIGIN OFFSET VALUE CHANGE (PROGRAMMABLE DATA INPUT) (G10)

ADDITIONAL WORKPIECE COORDINATE SYSTEMS (G54.1)

WORKPIECE COORDINATE SYSTEM PRESET (G92.1)

PLANE SWITCHING FUNCTION

POLAR COORDINA TE COMMAND (G15, G16)

INCH/METRIC CONVERSION (G20, G21)