FANUC 30i-B, 31i-B, 32i-B Operators Manual

Download

ADDITIONAL INFORMATION

FANUC Series 30i –MODEL B FANUC Series 31i –MODEL B FANUC Series 32i –MODEL B

Common to Lathe System / Machining Center System

1. Type of applied technical documents

Name

FANUC Series 30i –MODEL B FANUC Series 31i –MODEL B FANUC Series 32i –MODEL B Common to Lathe System / Machining Center System OPERATOR'S MANUAL

OPERATOR'S MANUAL

Spec.No./Version

B-64484EN/01

2. Summary of change

Group Name / Outline New,

Basic

Function

The description of the maximum number of files of the USB

memory folder screen was corrected. Parameter No.11376 was

added.

The description of “Multiple programs on memory card selection

input function” is added.

The description of “Overwriting confirmation when program is input

Add,

Correct,

Delete

Correct,

Add

Applicable

Date

Immediately

Date

and file is output” is added.

The description about deleting a folder recursively is added.

The description of improvement of folder management is added.

The description of power consumption monitoring screen is added.

Title

Common to Lathe System / Machining Center System

Draw No.

Design

2010.06.18

Design

Description Page

Approve

Add

FANUC Series 30i / 31i / 32i-MODEL B

OPERATOR'S MANUAL

B-64484EN/01-01

1/2

Optional

Function

The description of Rate Feed function is added.

The description of Plane Conversion function is added.

The description of Stored Pitch Error Compensation function is

added and corrected.

The description of High-speed Smooth TCP is added and corrected

The description of Rigid Tapping By Manual Handle is added.

The description of Three-dimensional Rotary Error Compensation is

added and corrected

The description of 5-axis machining configuration selecting function

Add

Correct

Add

Correct

Add

Correct

Add

New

Immediately

is added and corrected.

Unit

Maintenance

parts

Notice - This function is available in the following software.

G301,G311,G321, G331, G401,G411,G421,G431,G501 : 01.0 or later

Correction

Another

Date

Design

2010.06.18

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Common to Lathe System / Machining Center System

OPERATOR'S MANUAL

B-64484EN/01-01

2/2

Replace the NOTE in "8 DATA INPUT/OUTPUT" of "III. OPERATION" with following description.

NOTE

1 If the external input/output device is other than a data server interface or

embedded Ethernet interface, a file name of up to 12 characters can be handled. NC programs on the memory of the CNC can each be assigned any file name of up to 32 characters, but the name is restricted to up to 12 characters in the input/output to and from external I/O devices.

2 If the external input/output device is a data server interface, embedded Ethernet

interface, or USB memory interface, a file name of up to 32 characters can be handled.

3 When a memory card interface is used as an external I/O device, up to 512 files

can be handled.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

USB memory folder screen

B-64484EN/01-01

1/4

Replace "Limitation" in "11.1.3 Selecting a USB Memory as a Device" with following description.

Limitation

There are the following restrictions on the USB function. (1) Only one USB memory can be recognized. (No USB hub can be recognized.) (2) Up to 32 characters can be used for a file or folder name. If a file or folder name is longer than 32 characters, the 32nd character is replaced with a tilde (~) and the

subsequent characters are omitted when displayed. All operations including management operation and

input/output cannot be performed for a file or folder whose name is omitted with a tilde (~). (3) The maximum number of folder levels is 6 (excluding the root folder). (4) In case of setting that is sorted by the file name (parameter SOR(No.3107#4)=1), the maximum number of

files and folders that can be the display in a folder is 512. Do not store more than 512 files in the USB memory.

(5) If a non-ASCII character (alphanumeric character) is used in a file or folder name, it cannot be displayed

correctly.

For detailed specifications of and restrictions on a USB memory, see the section related to the USB function.

NOTE

1 Remove a USB memory only when “REMOVE OK” is displayed as the USB

memory status, or data may be damaged.

2 When the free space of the USB memory is a little or when a large amount of file

is in the USB memory, it might take time to operate the USB memory. In the default configuration, warning "TIME-OUT" is displayed after 30 seconds passed, and the operation of the USB memory stops. When the period of the time-out is changed, set parameter No.11376 .

- Operation of creation, edition, and management of a program

When “USB memory as a device” is selected, operation of creation, edition, and management of a program is below (Table 11.1.3 (a)):

Table 11.1.3 (a)

Item Usable

Creation of a program Unusable Edition prohibition attribute Unusable Inserting, alteration, and deletion a Word Unusable Deletion of a block Unusable Program search Usable Sequence number search Unusable Deletion of a program Usable Editing a custom macro Unusable Password function Unusable Editing a program character Unusable Program copy function Unusable Key and program encryption Unusable Selecting a device Usable Creation of a folder Usable Renaming of a folder Usable Changing the attribute of a folder Unusable

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

USB memory folder screen

B-64484EN/01-01

2/4

Item Usable

Deletion of a folder Usable Selecting a default folder Unusable Renaming of a file Usable Deletion of a file Usable Changing the attribute of a file Unusable Selecting a main program Unusable Making a program compact Unusable Input/output of program Usable

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

USB memory folder screen

B-64484EN/01-01

3/4

Add the parameter No. 11376 to "A.1 DESCRIPTION OF PARAMETERS" of APPENDIX .

11376 Time-out period of USB memory

[Input type] Parameter input [Data type] Word [Unit of data] sec [Valid data range] 0 to 32767

Set the time-out period of the USB memory. Please adjust this parameter according to the USB memory.

NOTE

When 0 is set in this parameter, it is assumed to 30.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

USB memory folder screen

B-64484EN/01-01

4/4

App

Add the following specification in

Ⅲ Operation,

10.12.2 “Copy of program file with memory card device”

10.12.3 “Deleting files in memory card device”

10.12.2 Copy of program file with memory card device

Overview

In the program list screen, the program file can be input and output between the memory cards connected as an external input-output device and program memory (CNC MEM) on CNC by the same operation as the copy of the program file.

NOTE

1 This function targets the memory card by the PCMCIA interface connected as an

external input-output device.

2 Change the following parameter setting to copy the program file between the memory

cards and program memory.

Patameter No.20-23 are set to 4.

・

Bit 0 (IO4) of parameter No.0110 is set to 0.

・

When Bit 0 (IO4) of parameter No.0110 is set to 1, and sets parameter No.20-23 to a value that means input-output device other than the memory card, warning " CHANGE EXTERNAL DEVICE TO MEMORYCARD" is occurred, and the file with the memory card cannot be copied.

Explanation

・Cnc mode when the copy is operated

Change to the EDIT mode when the file is copied between different devices. In the multi path system, change the entire path to the EDIT mode. Warning "CHANGE TO EDIT MODE" is occurred excluding the EDIT mode in any mode except EDIT.

・Selection of file

The file is selected according to the program file selection operation that becomes effective because of the bit 3 (PCP) of parameter No.11374 is set to 1. The file that can be selected as a copy target is only a file in the same folder.

・Copy of program file

When the program file is copied from the program memory to the memory card, the selected program is output to the memory card. When the program file is copied from the memory card to the program memory, the selected file is read to the program memory.

FANUC Series 30i / 31i / 32i-MODEL B

Title

Draw

No.

Date

Design

2010.06.17

Description

rv.Design

Multiple programs on memory card

selection in

ut function

B-64484EN/01-01

Page

1/3

App

・File that can be copied

The file that can be output to the memory card by the copy operation is only a program file on the CNC-MEM device. Therefore, the file that exists in other devices except the CNC-MEM and folder cannot be output.

NOTE

Even if the folder has been selected during output operation to the memory card, the

folder is not output.

・Overwrite of program file

The file is overwritten according to the program file overwriting operation by setting the bit 3 (PCP) of parameter No.11374 to 1.

NOTE

Operation when the file is copied to the memory card depends on the setting of bit 1

(COW) of parameter No.11308.

Operation when the file is copied to the program memory of CNC depends on the

setting of bit 2 (REP) of parameter No.3201.

Restrictions

・File operation restrictions on devices

A copy or movement between the following devices is possible.

・ CNC MEM ・ MEM CARD (binary format)

(However, this device can only be selected as the copy source folder from which a file is read.)

・ Data server ・ Memory card

(However, This device can do only the copy operation with the CNC MEM device.

Moreover, this device cannot be used together with MEM CARD.) For devices other than the above, a copy or movement between them is impossible. If an attempt is made to perform a copy or movement, the warning message "CAN NOT COPY/MOVE" appears.

・Copy of file including some programs

Don’t input anything to the key input buffer when you copy the file including some programs. When some programs are included in the file of the copy origin, if the character string is input to the key input buffer, only the program of the head in the file is read to CNC MEM with program name input to the key input buffer.

・File name on memory card

When the program with 8 character or more name of the program in the program memory on CNC is output, it is output on the memory card as follows.

For eight digits O numbers ('O'+ numeric parts) ・The numeric parts are 8 digits or more： The file name is changed to eight numerical value digits except first 'O'. Example) O12345678 → 12345678 ・The numeric parts are less than 8 digits： One digit is deleted '0' and program name is changed to seven digits of 'O' + numerical value.

FANUC Series 30i / 31i / 32i-MODEL B

Title

Draw

No.

Date

Design

2010.06.17

Description

rv.Design

Multiple programs on memory card

selection in

ut function

B-64484EN/01-01

Page

2/3

App

Example) O00012345 → O0012345

For arbitrary program name (9 characters or more) ・Program name is changed to the file name that rounds down since the ninth character. Example) 123456789 → 12345678

The file name output on the memory card might overlap by the above operation. In this case, it is output according to the setting of bit 1 (COW) of parameter No.11308.

10.12.3 Deleting files in memory card device

Overview

The file on the memory card can be deleted according to the operation of program file deletion by setting the bit 3 (PCP) of parameter No.11374 to 1.

FANUC Series 30i / 31i / 32i-MODEL B

Title

Draw

No.

Date

Design

2010.06.17

Description

rv.Design

Multiple programs on memory card

selection in

ut function

B-64484EN/01-01

Page

3/3

App

Add the following specification in

Ⅲ Operation,

10.12.4 “Overwriting confirmation when programs are input”

10.12.5 “Overwriting confirmation when file is output”

10.12.4 Overwriting confirmation when programs are input

Overview

When the program is input and there is already another program whose name is the same as the former, it is possible to select whether the program is overwritten or not, by the softkey operation.

Inputing a program

Procedure

Operate the following procedures on the ALL IO screen, the program edit screen, and the program list screen.

1 Press the soft key [F INPUT].

2 Specify the input file name, and press the soft key [F SET].

When the file name is not specified, the file of the default file name is input.

3 Specify the input program name, and press the soft key [P SET].

When the program name is not specified, programs in the file are input.

4 Press the soft key [EXEC]. The following softkey is displayed.

Fig.10.12.4 (a) Softkey display during input operation（10.4inch）

5 When the program of the same name is already existed in the destination, the confirmation message

“Overwrite ? ‘input program name’ ” and the following softkey are displayed.

Fig. 10.12.4 (b) Confirmation of overwriting by input operation in program list screen（10.4inch）

・ When the softkey [YES] is pressed, only the same program as the name displayed in the confirmation

message is input by the overwriting.

・ When the softkey [NO] is pressed, the program of the same name displayed in the confirmation message is

skipped, and input from the next file.

When the program of the same name is found again, the above confirmation message is displayed in every

case.

FANUC Series 30i / 31i / 32i-MODEL B

Title

Overwriting confirmation when

program is input and file is output

Draw

No.

Date

Design

2010.06.17

Desi

Description

rv.

B-64484EN/01-01

Page

1/3

App

・ When the softkey [YES ALL] is pressed, all programs of the same name displayed in the confirmation

message and programs of the same name after that are input by the overwriting.

・ When the softkey [NO ALL] is pressed, all programs of the same name displayed in the confirmation

message and programs of the same name after that are not input.

・ When the softkey [CANCEL] is pressed, the input is ended. Moreover, when the return menu key is

pressed, the input is similarly ended.

The softkey returns to the display before the softkey [F INPUT] is pressed when the input of all programs ends. The input operation is canceled when the mode is switched and the screen are switched to another screen while confirming the overwriting.

NOTE

1 The input is interrupted when there is a protected program. 2 The overwriting confirmation is canceled as well as the switch to another screen, and

the input ends, when switching to full screen display between small screen display or the path is switched while confirming the overwriting.

3 When the programs are input to effective the overwriting confirmation function on the

background editting (the bit 2 (REP) of parameter No.3201 and bit 3 (PCP) of parameter No.11374 are set to 1), the program is input at last is selected as a program for the background editing. The program for the background editing even if the program is input by the background editing when the folder to be input has been selected on each screen is not changed, when the overwriting confirmation function cannot be used (the bit 7 (FLI) of parameter No.11364 is set to 1).

4 The program that input the program of the same name before failing if failing in input

for the reasons such as protecting the program input while editing the background when the folder to be input is a setting that inputs the overwriting (the bit 2 (REP) of parameter No.3201 is set to 1, and bit 3 (PCP) of parameter No.11374 is set to 0), and is foreground or a background folder (bit 7 (FLI) of parameter No.11364 is set to

0) is selected to the program for the background editing. The program of the background editing is not changed even if failing in the input of the program of the head when the overwriting confirmation function is available.

5 The overwriting confirmation cannot be used by inputting the background editing.

10.12.5 Overwriting confirmation when file is output

Overview

On the bit 1 (COW) of parameter No.11308 is set to 1, when the file of same name had already exist when the NC data of the program and the parameter, etc. was output to an external input-output device, it is possible to select the overwriting or cancel the output to file by the operation.

Operation procedure in normal output

Procedure

Operate the following procedures on the screen where the NC data can be output.

FANUC Series 30i / 31i / 32i-MODEL B

Title

Draw

No.

Date

Design

2010.06.17

Desi

Description

rv.

Overwriting confirmation when

program is input and file is output

B-64484EN/01-01

Page

2/3

App

1 Press the soft key [F OUTPUT].

2 Specify the input file name, and press the soft key [F SET].

When the file name is not specified, the file of the default file name is output.

3 Press the soft key [EXEC].

4 Only when the file of the same name exists at the output destination, the confirmation message of

following softkey and "OVERWRITE ?" is displayed.

Fig.10.12.5 (a) Overwriting confirmation by output operation（10.4inch）

・ When the softkey [YES] is pressed, the file of same name is overwritten, and the file is output.

・ When the softkey [CANCEL] is pressed, the output is ended. Moreover, when the return menu key is

pressed, the output is similarly ended.

Operation procedure in all output

Procedure

Operate the following procedures on the ALL IO screen.

1 Press the soft key [ALL OUTPUT].

2 The input file name is specified, and press the soft key [F SET].

When the file name is not specified, the file of the default file name is output.

3 Press the soft key [EXEC].

4 Only when the file of the same name exists at the output destination, the confirmation message of

following softkey and "‘Output file name’ OVERWRITE ? " is displayed.

Fig.10.12.5 (b) Overwriting confirmation by all output operation（For the offset data）（10.4inch）

・ When the softkey [YES] is pressed, the file of the same name displayed in the confirmation message is

overwritten, and the file is output..

・ When the softkey [YES ALL] is pressed, the file of the same name displayed in the confirmation message

and all files of the same name after that are output by the overwriting.

・ When the softkey [CANCEL] is pressed, the output is ended. Moreover, when the return menu key is

pressed, the output is similarly ended.

FANUC Series 30i / 31i / 32i-MODEL B

Title

Draw

No.

Date

Design

2010.06.17

Desi

Description

rv.

Overwriting confirmation when

program is input and file is output

B-64484EN/01-01

Page

3/3

Add the following description to III OPERATION 11.5.1 “DELETING A FOLDER RECURSIVELY”.

11.5.1 DELETING A FOLDER RECURSIVELY

This function enables the deletion of the folder that includes programs and folders.

Explanation

When a folder is deleted, all the programs and folders in the folder is deleted.

This function is enabled by setting bit 3 (FDR) of parameter No. 11364. In the program list screen (CNC built-in memory), this function is available.

Procedure

1. Display the program list screen.

2. Move the cursor to a folder to delete.

3. Press the softkey [DELETE].

4. Press the softkey [EXEC].

5. The folder is deleted. All the programs and folders in the folder are also deleted.

NOTE

Following programs, folders and folders that include them are not deleted.

- The executed programs

- The programs which are selected in foreground

- The current folder

By following function, protected programs, folders and the folders that include them are not

deleted, too.

- Key and program encryption

- NE8/NE9 parameter protection

- Protection of data at eight levels

- Read only attribute

When some programs and folders are not deleted, the warning “PROGRAM IN FOLDER IS

NOT DELETED” is displayed.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Deleting a folder recursivel

B-64484EN/01-01

1/2

Add the following description to APPENDIX A PARAMETERS.

#7 #6 #5 #4 #3 #2 #1 #0

11364 FDR

[Input type] Parameter input [Data type] Bit

#3 FDR When the folder that includes programs or folders are tried to be deleted,

0: the folder is not deleted. 1: the folder, and the program and the folders in it are deleted.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Deleting a folder recursivel

B-64484EN/01-01

2/2

Add the following as 11.13 “Folder management” of III OPERATION.

11.13 Folder management

This function restricts the folder operation in program management. As a result, operator can manage the program without the complex folder operation. Following two specifications can be selected by the parameter.

1) The folders under the path folders can be used for program management.

2) Only the path folders can be used for program management.

Path folders are the one of the initial folders. The folder exists under //CNC_MEM/USER, and the number is same to the system path. Please refer to USER’S MANUAL (B-64484EN, II 12 PROGRAM MANAGEMENT) for details.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Folder mana

ement

B-64484EN/01-01

1/6

//CNC_MEM

SYSTEM/

MTB1/

MTB2/

USER/

PATH1/

CYLINDER/

2) PISTON/

Fig.11.13 (a) Folder that can be used by each setting

PATH2/

LIBRARY/

User created folder

GEAR1/

GEAR2/

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Folder mana

ement

B-64484EN/01-01

2/6

11.13.1 Program management under the path folder

If parameter FPF (No.11302#6) is set to “1”, the operation on the program folder screen becomes as follows. At this time, it is necessary to set parameter CFP (No.11304#7) to “0”.

Table 11.13.1 (a) Restriction of operation

Operation Working

Moving of the folder

Creating of user folder Possible Changing of foreground default folder Possible Changing of background default folder Possible

Display on program folder screen

Only the folder under the path folder corresponding to selected path can be displayed. Warning message “CAN’T MOVE TO FOLDER” is displayed and cannot move when the folder is operated to move upper from the path folder.

Setting of foreground/background default folder

Only the folder under the path folder corresponding to selected path can be set to foreground/background default folder.

Under the path folder Possible Upper from the path folder Impossible

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Folder mana

ement

B-64484EN/01-01

3/6

)3)

11.13.2 Program management only in the path folder

If Parameter CFP (No.11304#7) is set to 1, the operation on the program folder screen becomes as follows. At this time, the setting of parameter FPF (No.11302#6) is invalid.

Table 11.13.2 (a) Restriction of operation

Operation Working

Moving of the folder

Creating of user folder Impossible Changing of foreground default folder Impossible Changing of background default folder Impossible

Display on program folder screen

Only the path folder corresponding to selected path can be displayed. “RETURN TO UPPER FOLDER” is not displayed. (Refer to “1)” in Fig. 11.13.2 (a) and Fig. 11.13.2 (b).) The subfolder that has already been made under the path folder before the parameter CFP(No.11304#7) is made effective can be displayed. But it is impossible to move to the subfolder.

Under the path folder Impossible Upper from the path folder Impossible

Fig.11.13.2 (a) Program folder screen（parameter CFP(No.11304#7)=0）

Title

Draw No.

Date

Design

2010.06.17

Design

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Folder mana

ement

B-64484EN/01-01

4/6

)

)3)

Fig.11.13.2 (b) Program folder screen（parameter CFP(No.11304#7)=1）

Display of device name and current folder

The current folder name is not displayed though the device name is displayed so far. (Refer to “2)” in Fig.

11.13.2 (a) and Fig. 11.13.2 (b).)

Display and setting of foreground/background default folder

Foreground/background default folders are not displayed. (Refer to “3)” in Fig. 11.13.2 (a) and Fig. 11.13.2 (b).) Moreover, foreground/background default folders cannot be set.

Note

Set foreground/background default folder to each path folder before the

parameter CFP(No.11304#7) is made effective.

Softkey that is not displayed

The following soft key is not displayed, and cannot be operated.

・ CREATE FOLDER 1) ・ FORE CHANGE 2) ・ BACK CHANGE 3)

Fig11.13.2 (c) Softkey display for CNC_MEM device

Title

Draw No.

Date

Design

2010.06.17

Design

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Folder mana

ement

B-64484EN/01-01

5/6

11.13.3 Folder for subprogram/macro calls

In the following subprogram call/macro call, the folder /USER/LIBRARY, /MTB12, /MTB2 and /SYSTEM are searched before the folder where there is the main program are searched. There is a possibility being executed for the subprogram that the operator doesn't intend if the subprogram is registered to the above-mentioned folder even if the display and the operation are limited by this function.

-Subprogram call based on an M code

-Subprogram call based on a particular address

-Subprogram call based on a second auxiliary function code

-Macro call based on a S code

-Macro call based on a G code

-Macro call based on an M code

-Macro call based on a T code

-One-touch macro call

By setting 1 to the parameter SCC (No.3457#6), the folder where there is the main program is added to the top of search order.

1) Folder where the main program is stored. ← Added.

2) Common program folder of initial folder

3) MTB-dedicated folder 2 of initial folder

4) MTB-dedicated folder 1 of initial folder

5) System folder of initial folder

The folders of 2) though 5) can be excluded from search target folders by setting the parameters LIB(No.3457#0), MC2(No.3457#1), MC1(No.3457 #2), and SYS(No.3457#3).

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Folder mana

ement

B-64484EN/01-01

6/6

Insert the following descriptions as 12.4.15 "Power consumption monitoring screen" of III OPERATION. And move

the following item numbers one by one.

12.4.15 Power consumption monitoring screen

The electric power data of servo axis and spindle axis consumption and regeneration can be displayed.

Display of power consumption monitoring screen

1. Press function key .

2. Press continuous menu key

3. Press soft key [POWER MONIT].

several times until soft key [POWER MONIT] appears.

Fig. 12.4.15 Power consumption monitoring screen for 10.4-inch display unit

Procedure for 8.4-inch display unit

1. Press function key

2. Press continuous menu key

3. Press soft key [POWMON]. Press soft key [TOTAL] to display value of integral power consumption.

Press soft key [GRAPH] to display bar-graph.

Ed. Date Design Description

Date Design. Apprv.

several times until soft key [POWMON] appears.

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Power consumption monitoring screen

B-64484EN/01-01

page

1 / 5

Fig. 12.4.15 (a) Power consumption monitoring screen (TOTAL) for 8.4-inch display unit

Fig. 12.4.15 (b) Power consumption monitoring screen (Bar-graph) for 8.4-inch display unit

Operation of power consumption monitoring screen

Switch of display axis

When information on all axes is not displayed, the page is switched with the MDI key <PageUp> or <PageDown>.

Explanation

TIME

Integrating time of power consumption is displayed.

FANUC Series 30i / 31i / 32i-MODEL B

Power consumption monitoring screen

B-64484EN/01-01

Ed. Date Design Description

Date Design. Apprv.

Title

Draw

No.

page

2 / 5

Axis name

Axis name of servo and spindle is displayed. "ALL" means the total amount of power consumption.

CONSUMP

Integral power consumption is displayed.

REGEN

Integral power regeneration is displayed.

NET

Integral net amount of power consumption is displayed. The net amount of power consumption = power consumption – power regeneration.

PRESENT

Present net power consumption is displayed. A negative value is displayed about the net power consumption while the power is regenerating like the axis is decelerating, etc.

Bar-graph

Current net power consumption is displayed as a bar-graph. The scale of bar-graph is selected automatically by the parameter (No.4541#1 and #2 in case of the servo, No.2281#0 and #1 in case of the spindle). The scale of the entire power consumption bar-graph can be specified in the parameter (No.11371). The bar expands from the center to right while consuming the electric power. The bar expands from the center to left while regenerating the electric power.

Ed. Date Design Description

Date Design. Apprv.

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Power consumption monitoring screen

B-64484EN/01-01

page

3 / 5

Add the following descriptions as 12.4.30 "Power consumption monitoring screen (15/19-inch display unit)" of III

OPERATION.

12.4.30 Power consumption monitoring screen (15/19-inch display unit)

The electric power data of servo axis and spindle axis consumption and regeneration can be displayed.

Display of power consumption monitoring screen

1. Press function key .

2. Press continuous menu key

3. Press soft key [POWER MONIT].

several times until soft key [POWER MONIT] appears.

Fig. 12.4.30 Power consumption monitoring screen for 15” display unit

Operation of power consumption monitoring screen

Switch of display axis

When information on all axes is not displayed, the page is switched with the MDI key <PageUp> or <PageDown>.

Explanation

TIME

Integrating time of power consumption is displayed.

Axis name

Axis name of servo and spindle is displayed. "ALL" means the total of all servo and spindle axes.

FANUC Series 30i / 31i / 32i-MODEL B

Power consumption monitoring screen

B-64484EN/01-01

Ed. Date Design Description

Date Design. Apprv.

Title

Draw

No.

page

4 / 5

CONSUMP

Integral power consumption is displayed.

REGEN

Integral power regeneration is displayed.

NET

Integral net amount of power consumption is displayed. The net amount of power consumption = power consumption – power regeneration.

PRESENT

Present net power consumption is displayed. A negative value is displayed about the net power consumption while the power is regenerating like the axis is decelerating, etc.

Bar-graph of PRESENT

Present net power consumption is displayed as a bar-graph. The scale of bar-graph is selected automatically by the parameter (No.4541#1 and #2 in case of the servo, No.2281#0 and #1 in case of the spindle). The scale of the entire power consumption bar-graph can be specified in the parameter (No.11371). The bar expands from the center to right while consuming the electric power. The bar expands from the center to left while regenerating the electric power.

Ed. Date Design Description

Date Design. Apprv.

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Power consumption monitoring screen

B-64484EN/01-01

page

5 / 5

Add the following descriptions as 5.7 "Rate Feed" of II Programming.

5.7 Rate Feed

Outline

Specify the rate feed mode with G93.2, and directly specify a tool end feedrate as a numeric value after F. By using the value of F in the previous block as the initial value, a machine is accelerated or decelerated linearly. The unit of the value of F is mm/min or inch/min. G93.2 is modal. G93.2, once specified, remains to be valid until G93 (inverse time feed) or G94 (feed per minute) or G95 (feed per revolution) is specified.

x1 x2 x3

N10 G01 Xx0 Ff0 ;

N20 G93.2 Xx1 Ff1 ;

N30 Xx2 Ff2 ;

N40 Xx3 Ff3 ;

ｔ

Note

1. When axes are accelerated, a feedrate is limited by the parameter No. 1430 (FEDMX) used to specify an ordinary upper feedrate limit.

2. When the interpolation except the linear interpolation or circular interpolation is specified, an alarm PS0522 is generated.

Format

G93.2 IP＿F＿； Rate feed command IP＿：

F＿：Speed in the end point

Ed. Date Design Description

Date Design. E.Tanosaki Apprv.

For an absolute programming, the coordinates of an end point, and for an

incremental programming, the distance of the tool move

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Rate feed function

B-64484EN/01-01

page

1 / 6

Explanation

About the initial speed

The initial speed of the rate feed of each block is decided depending on the speed of the previous block, and the initial speed becomes 0 if the feed type of the previous block is specified excluding a cutting feed (feed per minute) or the rate feed.

About the movement during the rate feed

During the rate feed, when each signal such as single block or override is operated, the feed rate is changed as (1) to (3).

(1) When the feedrate override is change during the rate feed. （the feedrate override, the second feedrate override, override cancel signal etc.）

When the speed is changed by the feedrate override, acceleration/deceleration is changed according to it, because present speed and speed at the end point are changed. Speed in the end point becomes a speed after the override is multiplied.

(Example) When the feedrate override is changed from 100% to 70% and to 90%.

(Feedrate) F

Speed in the end point

100%

90%

70%

100%→70%

Change of the feed override

*Note) The feedrate in the figure shows the command feedrate exclusive of acceleration/deceleration after interpolation.

70%→90%

Next block

(Time) t

Ed. Date Design Description

Date Design. E.Tanosaki Apprv.

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Rate feed function

B-64484EN/01-01

page

2 / 6

(2) When the speed is changed during the rate feed (Dry run signal, External deceleration signal)

A machine is accelerated or decelerated from present speed to the dry run speed when the dry run speed is selected. A machine is accelerated or decelerated to the former end speed when the dry run speed is released.

(Example) When the dry run speed is selected and released.

Speed in the end point

Dry run speed

Changing to the dry run speed

Releasing of the dry run speed

Next block

(3) When the operation is stopping and restarting during the rate feed. (By feed hold, Interlock signal, Single block operation)

When the feed hold operation is executed during automatic operation and the operation is restarted, the speed at the interrupted point is applied as restarting feedrate.

(Example) When the feed hold stop is operated and restarted during automatic operation

Speed in the

end point

Speed when interrupted

Operation stop

Operation restart

Ed. Date Design Description

Date Design. E.Tanosaki Apprv.

Next block

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Rate feed function

B-64484EN/01-01

page

3 / 6

(4) When the axes more than two are interpolated（linear interpolation, circular interpolation）

Tangential speed becomes a speed of the rate feed at the start point and the end point between blocks, in which linear interpolation was commanded with multi axes. In case that the movement direction is changed between blocks, the speed of each axis at the end point of previous block does not correspond with the speed of each axis at the start point of current block.

(Example1) When the continuous blocks of linear interpolation and circular interpolation are commanded with two axes X and Y

N0001 G93.2 G91 G01 Y30. F100; N0002 G02 X60. R30. F200; N0003 G01 Y-30. F0;

60.000

30.000

(2)

200

100

Y axis

Tool path of X and Y axis

Tang e ntial Speed

X axis

60.00030.000

-200

Speed change of X and Y axis

Ed. Date Design Description

Date Design. E.Tanosaki Apprv.

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Rate feed function

B-64484EN/01-01

page

4 / 6

(Example2) When the continuous blocks of linear interpolation are commanded with two axes X and Y

N0001 G93.2 G91 G01 X30. Y20. F100;

N0002 X10. Y30. F200;

50.000

20.000

X axis speed

at the end

point of N1

block

Y axis speed

at the end

point of N1

block

Tool path of X and Y axis

30.000

Y axis

40.000

X axis

Tangential speed

Y axis

X axis

Y axis speed

at the start point of N2

block

axis speed

at the start

point of N2

block

Title

Ed. Date Design Description

Date Design. E.Tanosaki Apprv.

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Rate feed function

B-64484EN/01-01

page

5 / 6

(3)

(5) When the interpolations except G01 liner interpolation, G02/G03 circular interpolation are specified

(Helical interpolation, Hypothetical axis interpolation, Exponential interpolation, Involute interpolation, Spiral interpolation, and Conical interpolation, Cylindrical interpolation etc.) An alarm (PS0522) will be issued.

(6) When AI contour control is executed.

An alarm (PS0522) will be issued.

(7) When retrace is executed

The rate feed cannot be retraced. When the rate feed is commanded during reverse, retrace is finished then and displayed ‘RVED’.

But, when the parameter No.11630#4 sets to be ‘1’, the rate feed can be retraced. In this case the reverse execution is as follows. 1 In the block of the rate feed mode, reverse execution and forward reexecution are executed at per minute feedrate (G94) (a speed of F command). 2 In the forward execution from the start point of reverse execution to the end point on the block of the rate feed mode, the rate feed is executed with the speed at the forward execution interruption as the initial speed.

(8) Other functions

- 3D interference check with Open CNC cannot be used.

- Do not specify Coordinate system rotation, Three-dimensional coordinate system conversion or Tilted working plane command during the rate feed mode.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0

11630 RTR

[Input type] Parameter input [Data Type] Bit path

#4 RTR Reverse execution in the rate feed

0: is ineffective（end of reverse execution‘RVED’is displayed） 1: is effective.

Alarm

Number Message Description

PS0522 ILLEGAL CMD. IN RATE

FEED(G93.2)

During AI contour control mode or the interpolation except linear interpolation, circular interpolation is commanded in the rate feed.

Ed. Date Design Description

Date Design. E.Tanosaki Apprv.

Title

Draw

No.

FANUC Series 30i / 31i / 32i-MODEL B

Rate feed function

B-64484EN/01-01

page

6 / 6

Please add “Ⅱprogramming 7.5 Plane Conversion Function ”.

7.5 Plane Conversion Function

Outline

This function converts 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 shown in Fig.7.5 (a)

G17.1P4 G17.1P1(G17)

G17.1P2

G17.1P3 G17.1P5

Fig.7.5 (a) Planes specified by G17.1Px commands

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

B-64484EN/01-01

1/7

Format

G17.1 P_ ;

P_ : P1 to P5 Plane conversion specification

G17.1P1 is the same as G17.

Explanation

The plane conversion for a machining figure on the G17 plane shown in Fig.7.5 (b) is performed as Fig.7.5 (c), Fig.7.5 (d), Fig.7.5 (e), Fig.7.5 (f) or Fig.7.5 (g).

G17

plane

Fig.7.5 (b) G17

The circle at the origin indicates that the positive direction of the axis perpendicular to this page is the direction coming out of the page (in this case, the Z-axis is perpendicular to the XY plane).

G17

plane

Fig.7.5 (c) G17.1P1

Date

Design

2010.06.17

Design

Description

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

B-64484EN/01-01

Page

2/7

G18

plane

Fig.7.5 (d) G17.1P2

The cross at the origin indicates that the negative direction of the axis perpendicular to this page is the direction coming out the page (in this case, the Y-axis is perpendicular to the XZ plane).

G19

plane

Fig.7.5 (e) G17.1P3

Date

Design

2010.06.17

Design

Description

Approve

G18

plane

Fig.7.5 (f) G17.1P4

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

B-64484EN/01-01

Page

3/7

G19

plane

Fig.7.5 (g) G17.1P5

Program commands on the G17 plane are converted to the following commands by plane conversion:

Table 7.5 (a) Program commands converted by plane conversion

Command

X X X Y -X -Y Y Y Z Z Z Z

Z Z -Y -X Y -X G02 G02 G03 G02 G02 G03 G03 G03 G02 G03 G03 G02

I I I J -I -J J J K K K K K K -J I J -I

G41 G41 G42 G41 G41 G42 G42 G42 G41 G42 G42 G41

Tool length

compensation

Direction of coordinate

rotation

Direction of drilling axis + - + + -

Plane G17 G18 G19 G18 G19

G17.1P1 G17.1P2 G17.1P3 G17.1P4 G17.1P5

+ - + + -

Plane conversion

The modal information displayed in plane conversion function is as follows.

Table 7.5 (b) The displayed modal information

Command Displayed modal

G17.1P1 G17 G17.1P2 G17.1 G17.1P3 G17.1 G17.1P4 G17.1 G17.1P5 G17.1

Date

Design

2010.06.17

Design

Description

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

B-64484EN/01-01

Page

4/7

Example

The machining program created on the G17 plane in the right-hand Cartesian coordinate system is converted to appear the same figure when viewed from the direction indicated by G17.1P2 command.

G17.1P2

O1000 (MAIN PROGRAM)

N10 G91 G28 X0 Y0 Z0

N20 G54 N30 G17

N40 M98 P2000

N50 G55

N60 G17.1 P2 N70 M98 P2000

N80 G91 G28 X0 Y0 Z0 N90 M30

-Z X

G17

G54

Machine coordinate system

G54

-Z

O2000(SUB PROGRAM)

N2010 G90 G00 Z0

N2020 G00 X0 Y0 N2030 G00 X30.0 Y20.0

N2040 G01 Z-50.0 F200

N2050 Y90.0 F500

N2060 X60.0 Y70.0 N2070 G02 Y20.0 J-25.0

N2080 G01 X30.0 N2090 G00 Z0

N2100 M99

Limitations

1 Plane conversion can be performed only for commands for the X-, Y-, or Z-axis. 2 Plane conversion cannot be performed for manual operation.

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

Date

Design

2010.06.17

Design

Title

Draw No.

Description

Approve

B-64484EN/01-01

Page

5/7

3 Plane conversion cannot be performed for the following commands for moving the tool to a specified

position, commands related to the machine coordinate system, and commands for setting a coordinate system:

(1) Automatic reference position return (G28 and G30) (2) Floating reference position return (G30.1) (3) Return from the reference position (G29) (4) Selecting the machine coordinate system (G53) (5) Stored stroke limit (G22) (6) Setting the coordinate system (G54 to G59 and G92) (7) Presetting the workpiece coordinate system (G92.1) (8) Setting the offset (G10)

4 The current position display shows the coordinates after plane conversion. (Table 7.5 (c))

Table 7.5 (c) Current Position Indication

Absolute coordinates Command

X Y Z

G90 G00 X0 Y0 Z0 0.0 0.0 0.0 G17.1 P3 0.0 0.0 0.0 G00 X10.0 Y20.0 0.0 10.0 20.0 G01 Z-50.0 F200 -50.0 10.0 20.0 G02 X50.0 Y60.0 I40.0 -50.0 50.0 60.0

5 Plane conversion cannot be performed together with the axis switching function. 6 Specify plane conversion commands after canceling the following modes.

(1) Cutter compensation (2) Tool length compensation (3) Canned cycle (4) Three-dimensional coordinate conversion (5) Coordinate rotation (6) Scaling (7) Programmable mirror image

7 Plane conversion cannot be performed for the following commands that control a rotation axis together with

the X-, Y-, or Z-axis:

(1) Polar coordinate interpolation (2) Cylindrical interpolation (3) Control in normal directions (4) Exponential interpolation (5) Circular threading B

8 If a G17, G18, or G19 command is executed during plane conversion, the conversion is disabled and the

plane specified by the command is selected.

Please add to G code list in ⅡProgramming 3.1 G CODE LIST IN THE MACHINING CENTER

SYSTEM

G code Group Function

G17.1 02 Plane conversion function

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

B-64484EN/01-01

Date

Design

2010.06.17

Design

Title

Draw No.

Description

Approve

Page

6/7

Please add to G code list in ⅡProgramming 3.2 G CODE LIST IN THE LATHE SYSTEM

G code system

A B C

G17.1 G17.1 G17.1 16 Plane conversion function

Group Function

Date

Design

2010.06.17

Design

Description

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

Plane conversion function

B-64484EN/01-01

Page

7/7

Correct the following description in Ⅱ.PROGRAMMING 18 “PROGRAMMABLE PARAMETER INPUT

(G10)”.

18 PROGRAMMABLE PARAMETER INPUT (G10)

Overview

The values of parameters and pitch error compensation data can be entered in a program. This function is used for setting pitch error compensation data when attachments are changed or the maximum cutting feedrate or cutting time constants are changed to meet changing machining conditions. The input format of pitch error compensation data is changed depending on bit 0 (APE) of parameter No. 3602.

Format

- Parameter entry mode

G10L52 ; Parameter entry mode setting N_(Q_)R_ ; For parameters other than the axis type or spindle type N_P_(Q_)R_ ; For axis type or spindle type parameters : : G11 ; Parameter entry mode cancel

N_ : Parameter number R_ : Parameter setting value (Leading zeros can be omitted.) (Q_) : Bit number 0 to 7 (to be set when a bit type parameter is input) (Enabled when bit 4 (G1B) of parameter No.3454 = 1.) P_ : Axis number 1 to maximum controlled axis number (to be specified when an axis

type parameter or spindle type parameter is specified)

NOTE

G10L52 cannot be used to enter pitch error compensation data.

- Pitch error compensation data entry mode

G10L50 ; Pitch error compensation data entry mode setting N_(L1)R_ ; Pitch error compensation data entry : G11 ; Pitch error compensation data entry mode cancel

N_ : Compensation position number for pitch errors compensation +10,000 L1 : Input format of pitch error compensation data (total value type) R_ : Pitch error compensation data

NOTE

G10L50 cannot be used to enter parameter.

Date

Design

2010.06.17

Design

Description Page

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

1/11

Explanation

- Parameter number(N_)

Programmable parameter input (G10L52) enables writing to a parameter for a specific path by adding that path number to the parameter number to be specified (N_). The format for the parameter number is as follows: Nppxxxxxxx : Add a path number to the high-order 8th and 9th digits of a parameter number.

For pp, set a path number, and for xxxxxxx, set a parameter number. If a path number is omitted or if 0 is set, writing to a parameter for the local path is assumed, as usual.

NOTE

1 If a path number out of the range is specified, alarm PS0115 is issued. 2 To read and write data for the 10th path, set bit 0 (F16) of parameter No. 6008 to

0. If parameter bit F16 is 1, the calculation precision is up to the 8th digit. Thus, if a parameter number is determined with a calculation command such as #100= PRM[100000000 +#1] when the data for the 10th path is read or written, the correct number may not be determined.

3 Pitch error compensation data entry does not enable selection of a path.

- Setting value (R_)

Do not use a decimal point in the setting (R_) of a parameter or pitch error compensation data. To change a bit type parameter if bit 4 (G1B) of parameter No. 3454 is 1, specify 0 or 1. If a value other than 0 and 1 is specified, alarm PS1144, "G10 FORMAT ERROR", is issued. As the value of R, a custom macro variable can be used. When a parameter of real type is used, set an integer value in (R_) according to the increment system of the parameter.

- Bit number (Q＿)

Bit number (Q_) is effective if bit 4 (G1B) of parameter No. 3454 is 1. To set a bit type parameter, set a number in the range of 0 to 7. A custom macro variable can be used as the value of Q.

- Axis number (P_)

As the axis number (P_), specify the order of a controlled axis to be displayed on the CNC display screen, by using an axis type parameter. For example, specify P2 for the control axis which is displayed second. For a spindle type also, specify the order of an axis to be display on the CNC display screen. A custom macro variable can be used as the value of P.

- Input format of pitch error compensation data (L1)

When the input format of pitch error compensation data is incremental value type (bit 0 (APE) of parameter No. 3602 is set to 0), L1 is not to be specified. When the input format of pitch error compensation data is total value type (bit 0 (APE) of parameter No. 3602 is set to 1), L1 needs to be specified. If the data with L1 is input when bit 0 (APE) of parameter No. 3602 is set to 0, or the data without L1 is input when bit 0 (APE) of parameter No. 3602 is set to 1, alarm PS1300 “ILLEGAL ADDRESS” is caused.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

2/11

WARNING

1 Do not fail to perform reference position return manually after changing the pitch

error compensation data or backlash compensation data. Without this, the machine position can deviate from the correct position.

2 If the compensation data is changed when the input format is total value type(bit

0 (APE) of parameter No. 3602 is set to 1), power must be turned off before operation is continued.

3 The canned cycle mode must be cancelled before entering of parameters. When

not cancelled, the drilling motion may be activated.

CAUTION

Compatibility with the Series 16i/18i/21i: This model has parameters that are not compatible with the Series 16i/18i/21i.

So, before using this function, make a check according to the Parameter Manual (B-64490EN) of this model.

NOTE

Other NC statements cannot be specified while in parameter input mode.

- Writing to a parameter for another path

Programmable parameter input (G10L52) enables writing to a parameter for another path by specifying that path number in either of the following ways:

• Adding a path number to a parameter number (example 3)

• Specifying a path number using system variable #3018 (example 4)

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

3/11

CAUTION

If changing a parameter for another path by using this function, be sure to take

appropriate measures such as combining the function with an inter-path wait, so that the function is executed while the axis for which to change the parameter is

stopped. [Example] The following shows an example of changing a parameter for path 2 from path 1,

using M100 and M101 as wait M codes.

Path 1 program O0100; : :

M100P12 ...............(1)

G10L52; N200xxxxxP_R_ (A) G11;

M101P12................(2)

G10L52; NxxxxxP_R_ (B) G11; : M30;

Path 2 program O0200; :

M100P12.... (1)

M101P12.... (2)

: : M30;

(1): Waits for the start of writing to a

parameter from 1st path

(2): Waits for the end of writing to a

parameter from the 1st path (Subsequently, operation is performed with the parameter changed in (A).)

(A):Change to a parameter for another path

Must be made after it is checked that the axis on the path for which to

→

change the parameter is stopped.

(B):Change to a parameter for the local path

Example

1. Set bit 2 (SBP) of bit type parameter No. 3404 (when the bit 4 (G1B) of parameter No. 3454 is set to 0)

G10L52 ; Parameter entry mode N3404 R 00000100 ; SBP setting G11 ; Cancel parameter entry mode

2. Set bit 2 (SBP) of bit type parameter No. 3404 (when the bit 4 (G1B) of parameter No. 3454 is set to 1)

G10L52 ; Parameter entry mode N3404 Q2 R 1 ; SBP setting G11 ; Cancel parameter entry mode

3. Change the values for the Z-axis (3rd axis) and A-axis (4th axis) in axis type parameter No. 1322 (the coordinates of stored stroke limit 2 in the positive direction for each axis).

(When the increment systems for the 3rd and 4th axes are IS-B and millimeter machine, respectively)

G10L52 ; Parameter entry mode N1322P3R4500 ; Change the value for the Z-axis to 4.500 N1322PP4R12000 ; Change the value for the A-axis to 12.000 G11 ; Cancel parameter entry mode

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

4/11

4. Of axis type parameter No. 01322 for the 2nd path, change the values for the 3rd and 4th axes. (When the increment systems for the 3rd and 4th axes are IS-B and metric input, respectively)

G10L52; Parameter entry mode N20001322P3R4500; Change the value for the 3rd axis in 2nd path to 4.500 N20001322P4R12000; Change the value for the 4th axis in 2nd path to 12.000 G11; Cancel parameter entry mode

5. Write to the 4th axis of parameter No. 01322 for the 2nd path

#3018=2; Set the path subject to parameter writing to the 2nd path G10L52; Parameter entry mode N1322P4R12000; Change the value for the 4th axis in 2nd path to 12.000 G11; Cancel parameter entry mode #3018= 0 ; Return to the local path

6. Change compensation point numbers 10 and 20 of pitch error compensation. ( bit 0 (APE) of parameter No. 3602 is set to 0)

G10L50 ; Pitch error compensation data entry mode N10010R1 ; Change the compensation point number from 10 to 1 N10020R5 ; Change the compensation point number from 20 to 5 G11 ; Pitch error compensation data entry mode

7. Change compensation point numbers 10 and 20 of pitch error compensation. ( bit 0 (APE) of parameter No. 3602 is set to 1)

G10L50 ; Pitch error compensation data entry mode N10010L1R1 ; Change the compensation point number from 10 to 1 N10020L1R5 ; Change the compensation point number from 20 to 5 G11 ; Pitch error compensation data entry mode

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

5/11

Correct the following description in Ⅲ .OPERATION 8.2.4.3 “Input/output format of pitch error

compensation data”.

Input/output format of pitch error compensation data

Pitch error compensation data is input and output in the following input and output formats.

- Keywords

The following alphabets are used as keywords. The numeric value following each keyword has the meaning listed below:

Table 8.2.4.3 (a)

Keyword Meaning of the following numeric value

N Pitch error compensation data number + 10000 Q Data identification (1 : Parameter data, 0 : Pitch error compensation data )

L Input / Output format of pitch error compensation data (Without L : Incremental value type, L1 :

Total value type)

P Pitch error compensation data value

- Format

The input / output format of pitch error compensation data is changed depending on bit 0 (APE) of parameter No. 3602.

In case of incremental value type (bit 0 (APE) of parameter No. 3602 is set to 0).

N ***** Q0 P **** ;

In case of total value type (bit 0 (APE) of parameter No. 3602 is set to 1).

N ***** Q0 L1 P **** ;

The 5-digit numeric value following N indicates a pitch error compensation data number to which a value of 10000 is added. If the Bi-directional pitch error compensation is valid, the 5-digit numeric value following N indicates a pitch error compensation data number to which a value of 20000 is added. Q0 indicates pitch error compensation data L1 indicates that the input / output format of pitch error compensation data is total value type. When the input / output format is incremental type (bit 0 (APE) of parameter No. 3602 is set to 0), L1 is not to be specified. If the data with L1 is input when bit 0 (APE) of parameter No. 3602 is set to 0, or the data without L1 is input when bit 0 (APE) of parameter No. 3602 is set to 1, alarm SR1300 “ILLEGAL ADDRESS” is caused. The numeric value following P indicates the value (integer value) of pitch error compensation data between

-128 and 127.

The semicolon (;) indicates the end of block (LF in the ISO code or CR in the EIA code).

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

6/11

Example1 (bit 0 (APE) of parameter No.3602 is set to 0)

N10001Q0P100; Pitch error compensation data number 1 Pitch error compensation data value 100

Example2 (bit 0 (APE) of parameter No.3602 is set to 1)

N10001Q0L1P100; Pitch error compensation data number 1 Pitch error compensation data value 100

- Beginning and end of a record

A pitch error compensation data record begins with % and ends with %.

Example

% ; ................................................................Beginning of record

N10000Q0P10; N10001Q0P100; : N11279Q0P0;

% ..................................................................End of record

When parameters and pitch error compensation data are integrated into one file, % is added to the beginning and end of the file.

WARNING

1 Do not fail to perform reference position return manually after changing the pitch

error compensation data or backlash compensation data. Without this, the machine position can deviate from the correct position.

2 If the compensation data is changed when the input format is total value type(bit

0 (APE) of parameter No. 3602 is set to 1), power must be turned off before operation is continued.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

7/11

Add the following description in Ⅲ .OPERATION 12.4.2 “Displaying and Setting Pitch Error

Compensation Data” after the description of “

Bi-directional pitch error compensation”.

- Stored Pitch Error Compensation Total Value Input function

When bit 0 (APE) of parameter No. 3602 is set to 1, stored pitch error compensation data can be input by a total value. About details, please refer to “Stored Pitch Error Compensation Total Value Input function” in the CONNECTION MANUAL (FUNCTION).

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

8/11

Correct the following description in Ⅲ .OPERATION 12.4.16 “Displaying and Setting Pitch Error

Compensation Data (15/19-inch Display Unit)” after the description of “

compensation”..

Bi-directional pitch error

- Stored Pitch Error Compensation Total Compensating Value Input function

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

9/11

Add the following parameter to APPENDIX. A.1 “DESCRIPTION OF PARAMETERS”.

#7 #6 #5 #4 #3 #2 #1 #0

3602 APE

[Input type] Parameter input [Data type] Bit

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

# 0 APE The input type of stored pitch error compensation data is

0: An incremental value. 1: A total value.

This function is effective to the following functions.

- Stored Pitch Error Compensation

- Bi-directional Pitch Error Compensation

- Interpolation Type Pitch Error Compensation

Periodical Secondary Pitch Error Compensation

Interpolation Type Straightness Compensation

Simple Spindle Synchronous Control Independent Pitch Error Compensation

NOTE

If this parameter is changed, the data of stored pitch error

compensation is cleared automatically at next power on.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

10/11

Add the following alarm to APPENDIX. H “ALARM LIST”.

Number Massage

PS0527 ILLEGAL DATA IN PITCH ERROR In the effective pitch error compensation points that is

decided by considering the setting of the parameters, the difference between two consecutive data exceeds the range of -128～+127. Please correct the pitch error compensation data or change the parameter.

Description

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Stored pitch error compensation total compensating

value input function

B-64484EN/01-01

11/11

Replace II PROGRAMMING 22.2 "Smooth TCP" with the following content as "High-speed Smooth

TCP".

22.2 High-speed Smooth TCP

22.2.1 High-speed Smooth TCP

General

Tool center point control (referred to as TCP in the remainder of this manual) is a 5-axis machining function whereby the tool center point moves along a specified path even if the tool posture varies in relation to the object being machined. High-speed smooth TCP enables smooth tool center point cutting and tool side cutting while TCP. High-speed smooth TCP has below two functions. ・ Rotation axes compensation (G43.4L1) :

G43.4L1 smoothes the movement of machine compensating the rotation axes to reduce the unevenness in rotation axes commands.

・ Smooth control (G43.4P3) :

G43.4P3 interpolates the tool center points and tool postures smoothly.

This function is an option function.

- Rotation axes compensation (G43.4 L1)

Depending on the machining program, there may be unevenness in tool posture between blocks. In such a case, the position of the control point varies in relation to the position of the tool center point, so that acceleration/deceleration frequently occurs, and the control point does not move smoothly. As a result, there occur increases in machining time, as well as the degradation of the quality of the machined surface (as exemplified by streaks). High-speed Smooth TCP is a function that compensates rotation axes to reduce the unevenness in tool posture in relation to the tool center path for a machining program for TCP, thereby smoothing the movement of rotation axes. This is effective to reducing machining time and improving the quality of the machined surface if there is unevenness in tool posture between blocks. This function is optional.

Path of control point

The command is compensated.

Date

Tool posture

Tool center point path

Design

2010.06.17

Command with the rotation

axes compensated

Before compensation

Fig.222.1 (a) Compensation with High-speed Smooth TCP

Description Page

Design

Approve

After compensation

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

1/30

NOTE

1 The option of "Smooth TCP" or "High-speed Smooth TCP" is necessary to use

Rotation axes compensation (G43.4 L1). It can be used in Series 30i /31i -B, 31i -B5.

2 This function may not be effective to programs and so on that do not involve

unevenness in tool posture.

3 In case of tool side cutting which must follow the specified tool posture, this

function may not be suitable because the tool posture vector is compensated.

4 Each rotation axis is compensated from the original value within the

compensation tolerance. The tolerance can be specified by the parameters (No. 10486, 10487) or the G code (G10.8L1).

- Smooth control (G43.4 P3)

Under tool posture control, the tool posture is controlled every moment for operation on the plane formed by the tool postures (tool length compensation vectors) at the start point and the and point of a block. (Fig.2.1 (b)) This control method is suitable for machining a plane with the side of a tool using the tool center point control.

Tool posture control

Tool length compensation

vector Vs at block start point

Plane formed by Vs and Ve

Programmed path

Fig.2.1 (b) Tool posture control

Tool length compensation

vector Ve at block end point

Adding to the tool posture control, this feature (High-speed Smooth TCP) generates and interpolates smooth surfaces from commanded tool center points and tool postures. Traditionally, when a free surface is machined by Tool posture control, the free surface is approximated by polyhedrons. (Fig.2.1 (c)) But, by this feature, the free surface can be machined with smooth surfaces and the machining quality can be improved. (Fig.2.1 (d)) This feature is suitable for machining that the tool posture is needed to move smoothly using Tool center point control.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

2/30

Fig.2.1 (c) Polyhedron approximation of free surface Fig.2.1 (d) Free surface machined with this feature

NOTE

The option of "High-speed Smooth TCP" is necessary to use Smooth control

(G43.4 P3). It can be used in Series 30i -B/31i -B5.

Explanation

This feature is available for TCP type 1 (G43.4). (TCP type 2 (G43.5) is planned to be available.) AI contour control is also turned on with the command G43.4 P3. Automatic speed control of AI contour control reduces shocks on the machine tool system.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

3/30

Format

G43.4 L_ P_ IP_ α_ β_ H_ ; (M series) TCP mode is turned ON.

G43.4 L_ P_ IP_ α_ β_ D_ ; (T series) TCP mode is turned ON. G49 ; TCP mode is turned OFF.

L: 0 : Rotation axes compensation is not effective

1 : Rotation axes compensation is effective Using bit 0 (STC) of setting parameter No.10485, the state in which the address "L" command is absent can be selected. (Note 1)

P: Selection of Tool posture control mode

0 : Tool posture control is not effective. 1 : Tool posture control is effective. 3 : Smooth control is effective. (Note 1) Setting parameter TP2(No.11775#0) and TPC(No.19604#0) can select the status in the case that the address P is omitted. (Note 2)

IP: In the case of absolute command, the end position of Tool center point movement

In the case of incremental command, the movement value of Tool center point

α, β: In the case of absolute command, the end position of rotary axes movements

In the case of incremental command, the movement value of rotary axes H: Tool offset number (M series) D: Tool offset number (T series)

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

4/30

NOTE

1 In the case that the address L is not commanded, the behavior of G43.4 is as

follows with the setting parameter STC(No.10485#0).

Parameter STC

(No.10485#0)

when address L is not commanded

Behavior of G43.4

0 Normal TCP (G43.4L0) starts 1 Rotation axes compensation (G43.4L1) starts

2 In the case that the address P is not commanded, the behavior of G43.4 is as

follows with the setting parameters TP2(No.11775#0) and TPC(No.19604#0).

Parameter TPC

(No.19604#0)

Parameter TP2

(No.11775#0)

Behavior of G43.4

when address P is not commanded

0 - Normal TCP (G43.4P0) starts

0 Tool posture control (G43.4P1) starts 1 Smooth control (G43.4P3) starts

3 To use High-speed Smooth TCP on a T series machine, enable the extended

tool selection function (set bit 3 (TCT) of parameter No. 5040 =1). Use D as the tool length offset number. Other restrictions are the same as those on the M series.

4 Alarm PS0515, “ILLEGAL FORMAT IN SMOOTH TCP (G43.4L1)”, occurs if a

value other than 0 and 1 is specified for address "L".

5 In the case of simultaneous use of rotation axes compensation with Smooth

control, Smoothing is done to the tool postures compensated by Rotation axes compensation. Therefore, when side cutting is done with this feature, the machined figure is a little different by the angle compensated by Rotation axes compensation from the figure machined without Rotation axes compensation.

Example

A few examples applied to an original program which already exist are shown. The original program is supposed to be as follows :

N040 G43.4 H1 P1 X0.0 Y-100.0 Z0.0; Tool posture control mode is turned ON.

How to enable Smooth control

In order to enable Smooth control, P3 is commanded at the G43.4 block of the original program.

N040 G43.4 H1 P3 X0.0 Y-100.0 Z0.0; Smooth control is turned ON.

Or, with the settings of TPC(No.19604#0)=1 and TP2(No.11775#0)=1, P command can be omitted.

N040 G43.4 H1 X0.0 Y-100.0 Z0.0; Smooth control is turned ON.

9.2.1.1 Rotation axes compensation (G43.4L1)

- Compensation of rotation axes

High-speed Smooth TCP is designed to smooth tool posture variations, thereby smoothing the movement of rotation axes.

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

5/30

If there is unevenness in tool posture, the position of the control point varies in relation to the position of the tool center point, so that the control point does not move smoothly and acceleration/deceleration frequently occurs. This results in increases in machining time and the degradation of the quality of the machined surface (as exemplified by streaks).

Fig.9.2.1.1 (a) Example of a command that involves unevenness in tool posture

Path of control point

Tool posture

Tool center point path

High-speed Smooth TCP does not modify the tool center point position but compensates only the tool posture (rotation axis positions), thereby decreasing the unevenness in tool posture.

Command with the rotation axes compensated

Fig.9.2.1.1 (b) Command after compensation

- Compensation tolerance

High-speed Smooth TCP compensates the rotation axis positions in every block in TCP mode. Depending on the machining program, as a result of compensation calculations with this function, large compensation may be decided necessary. In such cases, unexpected interferences may be generated between tool and workpiece even for programs that are essentially free from interferences. Moreover, overtravel alarms may occur for linear/rotation axes because of variations in tool posture. To avoid such large compensation, High-speed Smooth TCP can limit the compensation for the rotation axis positions.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

6/30

Tool posture before compensation

Compensation area for a rotation axis

Fig.9.2.1.1 (c) In case of limited compensation

Tool posture after compensation

The compensation of a rotation axis is limited to the specified area.

Interference

avoided

Workpiece being machined

Specify the compensation tolerance for each rotation axis, using parameters Nos. 10486 and 10487.

Setting example) Parameter No.10486 = 1.0 (First rotation axis compensation tolerance is 1.0 degree.) Parameter No.10487 = 0.5 (Second rotation axis compensation tolerance is 0.5 degree.)

In the above example, the amount of compensation for the first rotation axis is limited to 1.0 degree and that for the second axis is limited to 0.5 degree. For example, on a 5-axis machine whose axis configuration is tool head rotation type, where the first rotation axis is a master axis (rotation axis near the workpiece) and the second rotation axis is a slave axis (rotation axis near the tool), the compensation for each rotation axis is limited into the fan-shaped area inFig.9.2.1.1 (d).

± Parameter

No.10487

± Parameter

No.10486

Fig.9.2.1.1 (d) Compensation area for a tool head rotation type machine

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

Date

Design

2010.06.17

Design

Description Page

Approve

7/30

NOTE

If the tool posture varies due to compensation with High-speed Smooth TCP

while a corner is being machined at the tool center, as in filleting, the finishing allowance may remain uncut at the corner. At such a location, set a small compensation tolerance for each rotation axis so that the tool posture does not vary exceedingly.

Dotted line: Tool posture before compensation

Compensation

Solid line: Tool posture after compensation

Colored area: Portion that remains uncut

Finishing allowance of the workpiece

Hatched area: Workpiece

Fig.9.2.1.1 (e)

- Conditions for enabling Rotation axes compensation

High-speed Smooth TCP enables Rotation axes compensation if all of the following conditions are met:

• Block of linear interpolation (G01)

• Block that contains an axis command for any of the five axes

• Block that contains no one shot G code

• Block in which no modal information except for O, N, F, or G code groups 01 and 03 is changed

Rotation axes compensation is canceled in a block that does not meet the above conditions, and it is judged in the next block whether to perform Rotation axes compensation anew.

For example, Rotation axes compensation is canceled if the following blocks are specified. Example) On a 5-axis machine with three linear axes (X, Y, Z) and two rotation axes (B, C)

M55; (no axis command) G91 G01; (no axis command) G00 X10.0; (no G01 mode) G04 X1.0; (one shot G code) G51.1 X1.0; (Address X not being an axis movement command)

The position in a High-speed Smooth TCP start block, as well as the end position, is not compensated. A High-speed Smooth TCP resume block, as well as the single block immediately before High-speed Smooth TCP is canceled, is not compensated, either. The single block immediately after a High-speed Smooth TCP start block (G43.4L1) is not compensated, either. The following is an example showing which blocks are compensated after High-speed Smooth TCP starts. Comments in parentheses to the right of some of the blocks are the reasons why the blocks are not compensated. The other blocks enclosed in frames are compensated.

Example) On a 5-axis machine with three linear axes (X, Y, Z) and two rotation axes (B, C)

G90 G01 G43.4 L1 H1 Z0 F500 ; Rotation axes compensation start

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

8/30

G00 X_ Y_ Z_ B_ C_ ; (Block immediately after Rotation axes compensation starts) G01 X_ Y_ Z_ ; (Rotation axes compensation resume block) Y_ Z_ ; X_ Z_ C_ ; X_ Y_ ; (Block immediately before it is canceled) M55 ; (No axis command) X_ Y_ B_ ; (Rotation axes compensation resume block) G91 X1.0 ; X_ ; (Block immediately before it is canceled) G02 X_ Y_ R_ ; (No G01 mode) G90 G01 X_ Z_ ; (Block immediately before it is canceled) G04 X2.0 ; (One shot G code) C_ ; (Rotation axes compensation resume block) X_ B_ ; B_ C_ ; X_ Y_ Z_ C_ ; (The end position is the same as that before compensation.) M55 ; (No axis command) G49 Rotation axes compensation end

- Insertion of rotation axis commands to blocks in which Rotation axes compensation is enabled

In a block in which Rotation axes compensation is enabled, a rotation axis movement command may be generated due to compensation even if the original command does not have a rotation axis address. The command thus generated is shown in the display of programs under execution.

Example) On a 5-axis machine with three linear axes (X, Y, Z) and two rotation axes (B, C)

Before compensation After compensation X_ Y_ ; X_ Y_ B_ C_ ; X_ B_ ; X_ B_ C_ ; B_ ; B_ C_ ;

- For machining with a ball end mill

If TCP machining is to be performed with a ball end mill, the tool center point in the program may be specified as the coordinates of the tool tip center or as the coordinates of the tool center point. At present, High-speed Smooth TCP assumes that for machining with a ball end mill, the program specifies the tool tip center. If the tool tip center is not specified, excessive cutting may occur.

Tool tip center

Tool center point

Fig.9.2.1.1 (f) Tip of a ball end mill

Other notes

- Display of programs under execution

In Rotation axes compensation mode, the compensated program is displayed.

Title

Draw No.

Date

Design

2010.06.17

Design

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

9/30

- Original program

Rotation axes compensation is not a function to directly edit the original program. Thus, Rotation axes compensation does not change the contents of the original NC program.

- Machine configurations to which Rotation axes compensation is applicable

This function is available on a 5-axis machine whose axis configuration is head rotation type, table rotation type, or composite type. Also, it is available on either a machining center or lathe machine.

NOTE

Rotation axes compensation is available even on a machine that has only one

rotation axis or that uses a hypothetical axis.

- Use with tool posture control

With this function, the tool posture varies within the permissible compensation area. If this function is used together with tool posture control, tool posture control is performed on the tool posture compensated within the permissible area.

Example

The following is an example of applying Rotation axes compensation to an existing machining program for TCP.

Original program

Assume the machining program for TCP (type 1) shown below. Assume that the machine configuration is such that it contains three linear axes (X, Y, and Z) and two rotation axes (B as the first and C as the second), with metric input.

Example) O200 N010 G49; Tool length compensation cancel N020 G54 G90 G00 X0 Y0 Z0 B0 C0; Programming coordinate system specification N030 G5.1 Q1; AI contour control on N040 G43.4 H1 Z0; TCP mode on N050 G01 X1.0 Y1.0 Z-0.5 B10.0

C90.0 F1000; N060 X2.0 Y0.9 B10.5 C89.5; … (Consecutive commands with

sequences of very small points) N880 X1.5 B9.8 C89.0; N890 X1.0 B10.0 C90.0; N900 G49; TCP mode off N910 G5.1 Q0; AI contour control off N920 M30; Program end

Starting Rotation axes compensation

To start the above program in Rotation axes compensation mode, specify L1 in the frame (TCP start block), as shown below.

N040 G43.4 L1 H1 Z0; Rotation axes compensation mode ON

Normal TCP starts if L0 is specified.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

10/30

N040 G43.4 L0 H1 Z0; Normal TCP mode ON

If address "L" is omitted, whether to turn on or off Rotation axes compensation is decided with the setting of bit 0 (STC) of parameter No. 10485.

Parameter STC (No.10485#0) Behavior of G43.4 when address “L” is not commanded

0 Normal TCP (G43.4L0) starts. 1 Rotation axes compensation (G43.4L1) starts.

If performing Rotation axes compensation

To perform Rotation axes compensation, set the parameters below.

Setting example) Parameter No.10486 = 1.0 (Compensation tolerance for the first rotation axis is 1.0 degree.) Parameter No.10487 = 0.5 (Compensation tolerance for the second rotation axis is 0.5 degree.)

With the setting examples above, rotation axis compensation is performed with a compensation tolerance of 1.0 degree for the first rotation axis and with a compensation tolerance of 0.5 degree for the second rotation axis. If 0 is set in parameter No. 10486, the first rotation axis is not compensated. If 0 is set in parameter No. 10487, the second rotation axis is not compensated.

9.2.1.2 Smooth control (G43.4P3)

- Interpolation of Tool center point and Tool posture

This feature generates and interpolates smooth surface which passes commanded Tool center points and Tool postures. Using the following program example, this feature is explained.

Example) The 5-axis machine is supposed as follows :

Head rotation type machine (Linear axes(X,Y,Z) Rotary axes(B,C)) Master rotary axis : C-axis(around Z-axis), Slave rotary axis : B-axis(around Y-axis)

G90 G01 F1000 ;

N1 G43.4 P3 X0.0 Y-100.0 Z0.0 B15.0 C90.0 ; N2 X35.3554 Y-70.7107 C135.0 ; N3 X50.0 Y0.0 C180.0 ; N4 X35.3554 Y70.7107 C225.0 ; N5 X0.0 Y100.0 C270.0 ; G49 ;

Tool center points and Tool postures are commanded as follows Fig.9.2.1.2 (a).

Tool posture

Date

Design

2010.06.17

Design

Description Page

Approve

Tool center points

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

11/30

Fig.9.2.1.2 (a) Commanded Tool center points and Tool postures

In case of machining with tool posture control (G43.4P1), the processing surface is shown in Fig.9.2.1.2 (b) (polyhedron). In case of machining with Smooth control (G43.4P3), the processing surface is shown in Fig.9.2.1.2 (c) (smooth curved surface).

Fig.9.2.1.2 (b) Tool posture control (G43.4P1) Fig.9.2.1.2 (c) Smooth control (G43.4P3)

- Tolerance of Smooth control

This feature generates and interpolates smooth paths from commanded Tool center points and Tool postures. Then, the generated surfaces are within the tolerances from the planes generated by the traditional Tool posture control.

(Tool center points) The generated paths are within the tolerance (Parameter No.11776, or Command G10.8 L2 Q_) from the linear paths generated by the traditional Tool posture control.

Paths generated by the traditional

Paths generated by the traditional Tool posture control

Tool posture control

Paths generated

Paths generated by this feature

by this feature

Tolerance

Tolerance (Parameter No.11776, or Command G10.8 L2 Q_)

(Parameter No.11776, or Command G10.8 L2 Q_)

Fig.9.2.1.2 (d) Path of Tool center points

(Tool postures) The generated tool posture paths are within the angle of tolerance (Parameter No. 11777 or Command G10.8 L2 R_) from the paths generated by tool posture control (G43.4P1). The closer to 0 the tolerance is, the more the path approaches to the plane generated by tool posture control. If parameter No.11777 is set to 0, it is assumed that this parameter is set to 0.02. Usually, it is machined smoothly even if this tolerance is 0.02, so this tolerance does not need to be changed.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

12/30

When the smoother tool posture path is necessary, set the values (for example, 1.0 degree etc.) to this parameter properly.

Bold line :

The tool posture path generated by G43.4P3.

Broken line :

The tool posture path

enerated by G43.4P1

Tool posture vector at start point Tool posture vector at end point

The angle between the curved surface (bold line) and the plane (broken line) is within the parameter No.11777.

Fig.9.2.1.2 (e) Paths of Tool postures

- Conditions for Smooth control to be effective

Smooth control is effective when the conditions for Tool center point control are satisfied and the following conditions are satisfied. In the case that the conditions are not satisfied, Smooth control is temporarily canceled and it is decided whether Smooth control should be effective or not at the next block.

Title

Draw No.

Date

Design

2010.06.17

Design

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

13/30

Conditions for Smooth control to be effective

1) Modes are as follows.

- Cutting mode

- Linear interpolation (G01)

- Feed per minute (G94, however G98 in G code system A of T series )

- Polar coordinate interpolation cancel (G13.1)

- Polar coordinate command cancel (G15)

- Canned cycle cancel (G80)

- Scaling cancel (G50)

- Custom macro modal call cancel (G67)

- Coordinate system rotation, 3-D coordinate system conversion cancel (G69 (M series), G69.1 (T series))

- Tool radius compensation cancel (G40)

- Programmable mirror image cancel (G50.1)

2) One shot G code is not commanded.

3) Buffering is not disabled.

4) Only movements of the axes for Tool center point control are commanded.

5) Block length of Tool center points is less than the parameter No.11778. (When Block length is long enough(longer than the parameter No.11778), it is supposed that Smoothing is not necessary, and Smoothing is temporarily canceled.)

Block length is longer than Parameter No.11778 = Smoothing is temporarily canceled.

Block lengths are less than Parameter No.11778 = Smoothing is effective.

Fig.9.2.1.2 (f) Block length and Smoothing

Block length is longer than Parameter No.11778 = Smoothing is temporarily canceled.

6) Angle between blocks of Tool center points is less than the parameter No.11779. ( In the case angle between blocks of Tool center points is larger than the parameter No.11779, the blocks are supposed to be a corner, and Smoothing is temporarily canceled.)

θ1

θ2

Angles(θ1, θ2) between blocks are less than the parameter No.11779

=Smoothing is effective.

Fig.9.2.1.2 (g) Angle between blocks and Smoothing

7) Movement to cross non over a singular position

θ3

Angle(θ3) between blocks is larger than the parameter No.11779. =Smoothing is temporarily canceled.

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

Date

Design

2010.06.17

Design

Description Page

Approve

14/30

Movement to cross over a singular position "Tool side rotary axis" and "Work-piece side rotary axis"

In this paragraph, ‘Tool side rotary axis’ and ‘Work-piece side rotary axis’ which are used in the next paragraph are explained. On a 5-axis machine, one rotary axis tilts the tool against the work-piece. This rotary axis is called "Tool-side rotary axis", and the other is called "Work-piece side rotary axis". According to the mechanical unit type, they are as follows:

Table 9.2.1.2 (a) Work-piece side rotary axis and Tool side rotary axis

Mechanical unit type (No.19680) Tool side rotary axis Work-piece side rotary axis

Tool rotation type (2) Slave axis Master axis

Table rotation type (12) Master axis Slave axis

Mixed type (21) Tool rotation axis Table rotation axis

Work-piece side rotary axis

Tool rotation type

Table rotation type

Mixed type

Fig.9.2.1.2 (h) Work-piece side rotary axis and Tool side rotary axis

Tool side rotary axis

Singularity, Singular position, Singular posture

A tool posture can be decided by two rotary axes positions. On the contrary, one pair of two rotary axes positions can not be usually decided by a tool posture. Here, the tool posture where the Work-piece side rotary axis position can be any, in other words, the Work-piece side rotary axis position can not be uniquely decided, is called "Singular posture". And, the position of the Tool side rotary axis at singular posture is called "Singular position (or Singular angle)". At singular position, the rotary center of Work-piece side rotary axis is parallel to the tool posture (tool direction).

Example) On a tool rotation type machine which has C axis(master axis around Z axis) and B axis(slave axis around Y axis) and the reference tool direction in Z axis direction, the singular position is B=0,+/-180,,,,deg. Then, the tool posture is the singular posture at C=any-deg. When B=0 (singular position), the tool posture is a singular posture at C=any-deg., as shown in Fig.9.2.1.2 (i) for example.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

15/30

C=0 C=60

B=0

(Singular position)

Singular posture

B=0

(Singular position)

Fig.9.2.1.2 (i) Singular position and Singular posture

Movement to cross over a singular position

When the commanded positions of the tool side rotary axis are opposite in relation to the singular position at the starting point and at the ending point of a block, in other words, when a movement to cross over a singular position is commanded, tool posture control is impossible, and Smooth control (G43.4P3) is also impossible. In this case, Smooth control is canceled temporarily before this command, and it is executed as normal Tool center point control.

Example) In the following case, Smooth control (G43.4P3) is temporarily canceled (linearization) in 1 block of before and after this command.

- Machine configurations

: the tool rotation type, master is C-axis (around about Z-axis), slave is B-axis (around about Y-axis) the reference tool axis is Z-axis direction, non inclination of reference tool axis direction and rotary axis

- Command

: rotary angle of start block : (B,C)=(90deg, 0deg) (tool posture is X-axis direction) : rotary angle of end block : (B,C)=(-90deg, -90deg) (tool posture is Y-axis direction)

In case, the rotary axis nearest tool is B axis, the singular position is B=0 degree. Because the start point is B=90 degree and the end point is B=-90 degree, the instruct point of the rotary axis nearest tool (B axis) is placed the singular position and the other side. The posture (B,C)=(-90deg, -90deg) can not be taken with the tool posture kept in the X-Y plane. The command (B,C)=(90deg, 90deg) which shows the same posture with (B,C)=(-90deg, -90deg) can be commanded.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

16/30

O0020 … G43.4 H1 P1; … N10 X_ Y_ Z_ B90.0 C0.0; N20 X_ Y_ Z_ B-90.0 C-90.0; … G49; M30;

O0021 … G43.4 H1 P1; … N10 X_ Y_ Z_ B90.0 C0.0; N20 X_ Y_ Z_ B90.0 C90.0; … G49; M30;

The commands in N20 in the both programs O0020

and O0021 have same posture (Y-axis direction).

But in O0020, Smooth control (G43.4P3) is

canceled temporarily before this command, and it is

executed as normal Tool center point control,

because the tool posture control is impossible from

(B,C)=(90deg, 0deg) (the end of N10). Smooth

control (G43.4P3) is also impossible.

Otherwise the tool posture control can work in

O0021.

B=90.0, C=90.0 or B=-90.0, C=-90.0

B=90.0, C=0.0

Fig.9.2.1.2 (j) Example for impossible Smooth control on type 1

Title

Draw No.

Date

Design

2010.06.17

Design

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

17/30

22.2.2 Tolerance change in High-speed Smooth TCP mode

9.2.2.1 Tolerance change in Rotation axes compensation (G43.4L1)

This function is designed to change the compensation tolerance for each rotation axis in Rotation axes compensation mode (G43.4L1). This makes it possible to change the tolerance according to the situation in part of the machining program. There are two ways to change the tolerance, directly specifying a value and using the value set in a parameter. No matter which way is used, if the tolerance is changed to 0, compensation on that axis is interrupted temporarily. Compensation can be resumed by specifying a value other than 0 as the tolerance.

Format

G10.8 L1 α_ β_ ; Directly specify the compensation tolerance for each rotation axis.

G10.8 L1 Pn ; From parameters, select the rotation axis compensation tolerance to use.

α: Compensation tolerance for the first rotation axis β: Compensation tolerance for the second rotation axis

Pn: Specification code for the compensation tolerance for each rotation axis. n: 0～1

0 (0 is used as the compensation tolerance for each rotation axis = Temporary halt of compensation) 1 (Parameters Nos. 10486 and 10487 are used.)

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

18/30

NOTE

1 The option of "Smooth TCP" or "High-speed Smooth TCP" is necessary to use

Rotation axes compensation (G43.4 L1). It can be used in Series 30i /31i -B,

31i -B5.

2 G10.8 is a one shot G code. 3 Rotation axes compensation (G43.4L1) is cancelled temporarily before and after

this G code command. 4 If any of the following is specified in a G10.8L1 block, alarm PS0520, "ILLEGAL

FORMAT IN G10.8L1", occurs.

- A command other than the above (except O and N commands) is specified.

- P is specified together with α and β.

- A negative value is specified as α or β.

- A value other than 0 and 1 is specified for n.

- Another G code is specified at the same time.

- G10.8 is specified in Rotation axes compensation mode (G43.4L1), but L is not

specified or the value of

L is not 1. 5 If G10.8L1 is specified in either of the following conditions, alarm PS0521,

"ILLEGAL USAGE OF G10.8L1", occurs.

- Not in Rotation axes compensation mode (G43.4L1)

- Not linear interpolation (G01) 6 If G10.8 is specified in a G43.4L1 block, alarm PS0515 occurs. 7 In continuous operation, no deceleration stop occurs in a G10.8L1 block. 8 In single block operation, a single block stop occurs in a G10.8L1 block. 9 If the way to specify a tolerance directly (G10.8L1α_β_), parameters Nos. 10486

and 10487 are not changed.

10 Each of the parameters for rotation axis compensation tolerances is clamped

with the setting of parameters Nos. 10490 and 10491 as the upper limit.

11 Even if a tolerance is specified directly, it is also clamped with the setting of

parameters Nos. 10490 and 10491 as the upper limit.

12 When Rotation axes compensation (G43.4L1) starts, the value of parameters

Nos. 10486 and 10487 is used as the tolerance for each rotation axis.

13 Compensation can be resumed by specifying a value other than 0 as the

tolerance.

- Confirming the rotation axis compensation tolerances in use

The rotation axis compensation tolerances used in the block under execution can be confirmed with the following diagnostic data. The tolerances are displayed with the increment systems of the respective rotation axes.

• Compensation tolerance for the first rotation axis: Diagnostic data No. 6501

• Compensation tolerance for the second rotation axis: Diagnostic data No. 6502

Example

The following are examples in which rotation axis compensation with Rotation axes compensation is temporarily halted and resumed. Comments enclosed in parentheses on the right side of certain blocks are reasons why the blocks are not compensated. Other blocks are compensated.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

19/30

Example 1) Halt of compensation

On a five axis machine (M series) with three linear axes (X, Y, and Z) and two rotation axes (B and C) G90 G01 G43.4 L1 H1 Z0

(Rotation axes compensastion starts)

F500 ;

X_ Y_ Z_ B_ C_; (Block immediately after the start of Rotation axes

compensation) X_ Y_ Z_ X_ Y_ B_ B_ C_; (Block immediately before cancellation)

G10.8 L1 P0;

(One-shot G code / Tolerances for the B- and C-axes are set to 0

degrees.) X_ C_; (Rotation axis compensation is temporarily halted.) X_ Y_ ; (Rotation axis compensation is temporarily halted.) Z_ B_ C_; (Rotation axis compensation is temporarily halted.) B_ C_; (Rotation axis compensation is temporarily halted.) X_; (Rotation axis compensation is temporarily halted.)

G10.8 L1 B0.5 C1.0;

(One-shot G code / A tolerance of 0.5 degree is set for the

B-axis, and a tolerance of 1.0 degree for the C-axis.) X_ Z_ C_; (Rotation axes compensation resumption block) X_ Y_ ; X_ Z_ B_ C_; X_ B_ C_; X_ Y_ C_; (Rotation axes compensation end position)

G49

(Rotation axes compensation ends.)

Example 2) Halt of the compensation of a specified axis

On a five axis machine (M series) with three linear axes (X, Y, and Z) and two rotation axes (B and C) G90 G01 G43.4 L1 H1 Z0

(Rotation axes compensation starts)

F500 ;

X_ Y_ Z_ B_ C_; (Block immediately after the start of Rotation axes

compensation) X_ Y_ Z_ X_ Y_ B_ B_ C_; (Block immediately before cancellation)

G10.8 L1 B0.0;

(One-shot G code / Compensation of the B-axis is halted.) X_ C_; (Rotation axes compensation resumption block) X_ Y_ ; Z_ B_ C_; B_ C_;

Compensation is halted for the B-axis only

X_; (Block immediately before cancellation)

G10.8 L1 C0.0;

(One-shot G code / Compensation of the C-axis is also halted.)

X_ Z_ C_; (Rotation axes compensation resumption block) X_ Y_ ; X_ Z_ B_ C_; X_ B_ C_;

Compensation is halted for both B- and C-axes.

X_ Y_ C_; (Rotation axes compensation end position)

G49

(Rotation axes compensation ends.)

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

20/30

Example 3) Tolerance changes

On a five axis machine (M series) with three linear axes (X, Y, and Z) and two rotation axes (B and C) G90 G01 G43.4 L1 H1 Z0

(Rotation axes compensation starts)

F500 ; G10.8 L1 P1;

(One-shot G code / The values of parameters Nos. 10486 and

10487 are set as tolerances.) X_ Y_ Z_ B_ C_; (Rotation axes compensation resumption block) X_ Y_ Z_ X_ Y_ B_ B_ C_; (Block immediately before cancellation)

G10.8 L1 B1.0 C0.5;

(One-shot G code / A tolerance of 1.0 degree is set for the

B-axis, and a tolerance of 0.5 degree for the C-axis.) X_ C_; (Rotation axes compensation resumption block) X_ Y_ ; Z_ B_ C_; B_ C_; X_; (Block immediately before cancellation)

G10.8 L1 P1;

(One-shot G code / The values of parameters Nos. 10486 and

10487 are set as tolerances.) X_ Z_ C_; (Rotation axes compensation resumption block) X_ Y_ ; X_ Z_ B_ C_; X_ B_ C_; X_ Y_ C_; (Rotation axes compensation end position)

G49

(Rotation axes compensation ends.)

9.2.2.2 Tolerance change in Smooth control (G43.4P3)

In Smooth control mode, the tolerance for paths of Tool center points (parameter No.11776 equal), and The tolerance for angles changing of Tool posture (parameter No.11777 equal) can be changed. This makes it possible to change the tolerance according to the situation in part of the machining program.

Format

G10.8 L2 Q_ R_ ; Directly specify the tolerance G10.8 L2 Pn ; From parameters, select the tolerance to use.

Q: Tolerance for paths of Tool center points R: Tolerance for angles changing of Tool posture Pn: Specification code for the tolerance in Smooth control mode (G43.4P3). n: 0～1

0 (0 is used as the tolerance) 1 (Parameters Nos. 11776 and 11777 are used.)

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

21/30

NOTE

1 The option of "High-speed Smooth TCP" is necessary to use Smooth control

(G43.4 P3). It can be used in Series 30i -B/31i -B5.

2 G10.8 is a one shot G code. 3 Smooth control (G43.4P3) is canceled(linearization) temporarily in 1 block of

before and after this G code command. 4 The parameter No.11776 and 11777 is not changed, when an each instruction is

executed. 5 If any of the following is specified in a G10.8L2 block, alarm PS0523, "ILL.

COMMAND IN HIGH-SPEED S-TCP", occurs.

- P is specified together with Q and R.

- A negative value is specified as Q or R.

- A value other than 0 and 1 is specified for n.

- P and neither Q nor R are specified.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

22/30

22.2.3 Information Display in High-speed Smooth TCP

The following two types of information are displayed in High-speed Smooth TCP.

• Status display in the High-speed Smooth TCP mode

• Maximum compensation of Rotation axes compensation

- Status display in the High-speed Smooth TCP mode

Character string “S-TCP”, which indicates operation in the High-speed Smooth TCP mode, blinks in the status bar (indicated by <1> in Fig.2.3 (a)) from the specification of G43.4L1 or G43.4P3 to the specification of G49. This status display is valid until Rotation axes compensation (G43.4L1) is temporarily interrupted (G10.8L1P0 or G10.8L1α0β0 is specified, or conditions for rotation axes compensation to be satisfied are not met). Character string “TCP” blinks while compensation is temporarily interrupted.

Fig.2.3 (a) Status display during execution of High-speed Smooth TCP

- Maximum compensation of Rotation axes compensation

In Rotation axes compensation, the larger the specified tolerance, the larger the compensation for a command. If no tolerance is considered, compensation is maximized. This function indicates the maximum compensation with no tolerance considered for a running program. The function also indicates the maximum compensation applied actually by Rotation axes compensation based on the specified tolerance. These types of information are displayed based on the calculation results of compensation performed by Rotation axes compensation after the start of Rotation axes compensation (specification of G43.4L1) until the block that has been looked ahead. The value of each rotation axis can be checked from the following diagnosis data. The value is indicated in the increment system of each rotation axis.

• Maximum compensation of the first rotation axis with no tolerance considered : Diagnostic data No. 6503

• Maximum compensation of the second rotation axis with no tolerance considered : Diagnostic data No. 6504

• Maximum value of compensation actually applied to the first rotation axis : Diagnostic data No. 6505

• Maximum value of compensation actually applied to the second rotation axis : Diagnostic data No. 6506

This data is reset to 0 each time the program of Rotation axes compensation (G43.4L1) starts and continues to be displayed on the diagnosis screen until the next time the program of Rotation axes compensation starts (G43.4L1 is specified). This data is also reset to 0 when the power is turned on or off.

NOTE

1 The compensation value actually applied is smaller than the maximum

compensation with not tolerance considered so as to turn the rotation axis smoothly.

2 The maximum compensation is indicated as an absolute value.

Diagnose

<1>

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

23/30

6501 First rotation axis compensation tolerance in the block under execution

[Data type] Real path [Unit of data] degree (increment system of the first rotation axis) [Meaning] The compensation tolerance for the first rotation axis that High-speed Smooth TCP (Rotation

axes compensation) is using for compensation in the block under execution is displayed.

6502

Second rotation axis compensation tolerance in the block under execution

[Data type] Real path [Unit of data] degree (increment system of the second rotation axis) [Meaning] The compensation tolerance for the second rotation axis that High-speed Smooth TCP (Rotation

axes compensation) is using for compensation in the block under execution is displayed.

6503 Maximum compensation of the first rotation axis with no tolerance considered

[Data type] Real path [Unit of data] degree [Min. unit of data] Depend on the increment system of the first rotary axis [Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table (B))

(When the increment system is IS-B, 0.0 to +999999.999) The maximum compensation of the first rotation axis with not tolerance considered calculated after the start of High-speed Smooth TCP (Rotation axes compensation) until the block that has been looked ahead is displayed as an absolute value.

6504 Maximum compensation of the second rotation axis with no tolerance considered

[Data type] Real path [Unit of data] degree [Min. unit of data] Depend on the increment system of the second rotary axis [Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table (B))

(When the increment system is IS-B, 0.0 to +999999.999) The maximum compensation of the second rotation axis with not tolerance considered calculated after the start of High-speed Smooth TCP (Rotation axes compensation) until the block that has been looked ahead is displayed as an absolute value.

6505

Maximum compensation actually applied by High-speed Smooth TCP (G43.4L1)

to the first rotation axis

(When the increment system is IS-B, 0.0 to +999999.999) The maximum compensation actually applied to the first rotation axis based on the specified tolerance after the start of G43.4L1 until the block that has been looked ahead is displayed as an absolute value.

6506

Maximum compensation actually applied by High-speed Smooth TCP (G43.4L1)

to the second rotation axis

[Unit of data] degree [Min. unit of data] Depend on the increment system of the second rotary axis

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

24/30

[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table (B))

(When the increment system is IS-B, 0.0 to +999999.999) The maximum compensation actually applied to the second rotation axis based on the specified tolerance after the start of G43.4L1 until the block that has been looked ahead is displayed as an absolute value.

Other notices

As for other notices, they are subject to Tool center point control.

Restrictions

- Cancellation of High-speed Smooth TCP

High-speed Smooth TCP is canceled with a reset/M02/M30. For the setting that does not cause TCP to be canceled with a reset, resetting causes High-speed Smooth TCP mode to be canceled, returning the system to normal TCP mode. The setting that does not cause TCP to be canceled with a reset refers to either of the parameter settings 1 and 2.

Parameter

Setting 1 1 1 1 Setting 2 0

Bit 6 (CLR) of parameter No.

3402

- TCP type 2

At present, High-speed Smooth TCP is not supported for use with TCP type 2. In addition, the parameters below are not effective for TCP type 2.

- Bit 0 (STC) of parameter No. 10485

In case of TCP type 2, even if this parameter is set to 1, Rotation axes compensation is not started when

address “L” is omitted at the block of G43.4.

- Bit 0 (TP2) of parameter No. 11775

In case of TCP type 2, even if this parameter and bit 0 (TPC) of parameter No.19604 are set to 1, Smooth

control is not started when address “P” is omitted at the block of G43.4.

- Intervention with an MDI command during a single block stop

Do not intervene with an MDI command during a single block stop in High-speed Smooth TCP mode. Intervention with an MDI command issues alarm PS5421.

- Manual intervention

Manual intervention cannot be performed during Smooth control (G43.4P3). If manual intervention is performed, alarm PS0523, "ILL. COMMAND IN HIGH-SPEED S-TCP", is issued at an operation restart.

- Other restrictions

Other restrictions are the same as those for tool center point control (type 1).

Bit 0 (C08) of parameter No.

3407

－

Bit 6 (LVK) of parameter No.

5003

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

25/30

Correct and add the following parameter to APPENDIX. A.1 “DESCRIPTION OF PARAMETERS”.

#7 #6 #5 #4 #3 #2 #1 #0

10485 STC

[Input type] Setting input [Data type] Bit path

#0 STC If, in a TCP start block (G43.4), address "L" is omitted, TCP is:

0: Started as normal TCP. 1: Started as High-speed Smooth TCP (Rotation axes compensation).

10486 First rotation axis compensation tolerance in High-speed Smooth TCP mode (G43.4L1)

[Input type] Setting input [Data type] Real path [Unit of data] degree [Min. unit of data] Depend on the increment system of the reference axis [Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table (B))

(When the increment system is IS-B, 0.0 to +999999.999) If the first rotation axis is compensated in Rotation axes compensation (G43.4L1), the maximum change from the specified value before compensation is limited by this setting. The first rotation axis is the axis specified for parameter No. 19681. If 0 is set in this parameter, the first rotation axis is not compensated. If a value other than 0 is set in parameter No. 10490, this parameter is clamped with the value of parameter No. 10490 as the upper limit.

10487 Second rotation axis compensation tolerance in High-speed Smooth TCP mode (G43.4L1)

(When the increment system is IS-B, 0.0 to +999999.999) If the second rotation axis is compensated in Rotation axes compensation (G43.4L1), the maximum change from the specified value before compensation is limited by this setting. The second rotation axis is the axis specified for parameter No. 19686. If 0 is set in this parameter, the second rotation axis is not compensated. If a value other than 0 is set in parameter No. 10491, this parameter is clamped with the value of parameter No. 10491 as the upper limit.

10490 Maximum first rotation axis compensation tolerance in High-speed Smooth TCP mode (G43.4L1)

[Input type] Parameter input [Data type] Real path [Unit of data] degree [Min. unit of data] Depend on the increment system of the reference axis [Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table (B))

(When the increment system is IS-B, 0.0 to +999999.999)

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

26/30

If a value other than 0 is set in this parameter and the setting of parameter No. 10486 is equal to or greater than the setting of this parameter, the setting of this parameter is regarded as the setting of parameter No. 10486. If 0 is set in this parameter, parameter No. 10486 is not limited.

10491 Maximum second rotation axis compensation tolerance in High-speed Smooth TCP mode (G43.4L1)

(When the increment system is IS-B, 0.0 to +999999.999) If a value other than 0 is set in this parameter and the setting of parameter No. 10487 is equal to or greater than the setting of this parameter, the setting of this parameter is regarded as the setting of parameter No. 10487. If 0 is set in this parameter, parameter No. 10487 is not limited.

#7 #6 #5 #4 #3 #2 #1 #0

10775 TP2

[Input type] Setting input [Data type] Bit path

#0 TP2 At the TCP starting block(G43.4), when the address P is omitted, in accordance with the

parameter TPC(No.19604#0), 0: Tool center point control or Tool posture control (G43.4P1) is effective. 1: Tool center point control or Smooth control (G43.4P3) is effective.

10776 Tolerance of Tool center point path for High-speed Smooth TCP (G43.4P3)

[Input type] Setting input [Data type] Real path [Unit of data] mm, inch (input unit) [Min. unit of data] Depend on the increment system of the reference axis [Valid data range] 9 digit of minimum unit of data (refer to standard parameter table (A))

(When the increment system is IS-B, -999999.999 to +999999.999) In Smooth control (G43.4P3), paths of Tool center point are paths within this parameter from the commanded linear paths of Tool center points. When the data 0 is set in this parameter, paths are calculated assuming that the data 0.02 is set in this parameter.

10777 Tolerance of Tool posture control point path for High-speed Smooth TCP (G43.4P3)

[Input type] Setting input [Data type] Real path [Unit of data] degree (input unit) [Min. unit of data] Depend on the increment system of the reference axis [Valid data range] 9 digit of minimum unit of data (refer to standard parameter table (A))

(When the increment system is IS-B, -999999.999 to +999999.999) In High-speed Smooth TCP (G43.4P3), angles between surfaces of High-speed Smooth TCP and planes of traditional Tool posture control(planes between starting tool posture and ending tool posture of a block) are within this parameter.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

27/30

When the data 0 is set in this parameter, paths are calculated assuming that the data 0.02 is set in this parameter.

10778 Longest block length to enable Smoothing of High-speed Smooth TCP (G43.4P3)

(When the increment system is IS-B, -999999.999 to +999999.999) The longest block length (Maximum block length) of Tool center points to enable Smoothing of High-speed Smooth TCP (G43.4P3) is set. At blocks whose lengths are longer than this parameter, Smoothing of High-speed Smooth TCP is temporarily canceled. When the data 0 is set in this parameter, the decision to cancel Smoothing with blocks lengths is not done.

10779 Maximum angle between blocks to enable Smoothing of High-speed Smooth TCP (G43.4P3)

[Input type] Setting input [Data type] Real path [Unit of data] degree (input unit) [Min. unit of data] Depend on the increment system of the reference axis [Valid data range] 0 to 180

Maximum angle between blocks of Tool center points to enable Smoothing of Smooth control (G43.4P3) is set. When angles between blocks are larger, Smoothing of High-speed Smooth TCP (G43.4P3) is temporarily canceled. When the data 0 is set in this parameter, the decision to cancel Smoothing with angles between blocks is done assuming that the data 90 is set in this parameter.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

28/30

Correct and add the following alarm to APPENDIX. H “ALARM LIST”.

Number

PS0515 ILLEGAL FORMAT IN

SMOOTH TCP(G43.4L1)

PS0516 ILLEGAL PARAMETER IN

SMOOTH TCP(G43.4L1)

PS0520 ILLEGAL FORMAT IN G10.8L1 An illegal command was specified to change a tolerance of Rotation

PS0521 ILLEGAL USAGE OF G10.8L1 Modal information used when specifying G10.8L1 contains an error.

Message Description

An illegal command was specified in Rotation axes compensation (G43.4L1).

• An illegal command was specified in a Rotation axes control start block.

- An invalid value was specified with address "L".

- A value other than 0 and 1 was specified with address “L”.

- G10.8 was specified at the same time. A parameter related to Rotation axes compensation (G43.4L1) is illegal.

axes compensation (G43.4L1).

• A negative value was specified as a tolerance.

- Specify positive values as addresses "α" and "β".

• An invalid P value was specified.

- Specify either 0 or 1 as address "P".

• Address P is specified together with addresses "α" and "β".

- Specify only either address "P" or "addresses "α" and "β".

• An invalid address was specified.

- In G10.8L1, only L, P, α, β, O, N, and M can be specified.

• Another G code was specified at the same time.

- Specify G10.8L1 alone.

• G10.8 was specified in Rotation axes compensation mode

(G43.4L1), but address "L" is not specified or the value of address "L" is not 1.

- In Rotation axes compensation mode (G43.4L1), only

G10.8L1 can be specified.

• The system is not in Rotation axes compensation mode

(G43.4L1).

- G10.8L1 can be specified in Rotation axes compensation

mode only.

• The system is in Rotation axes compensation mode (G43.4L1),

but the command is not linear interpolation (G01).

- G10.8L1 can be specified only during linear interpolation

(G01).

PS0523 ILL. COMMAND IN

HIGH-SPEED S-TCP

PS0533 ILL. PARAM IN HIGH-SPEED

S-TCP

Date

Design

2010.06.17

Design

An illegal command was specified during Smooth control (G43.4P3).

- An command G43.4 P3 was specified without option of

High-speed Smooth TCP.

A parameter related to Smooth control (G43.4P3) is illegal.

- When setting the following, Smooth control (G43.4P3) was

commanded.

- the rotation axis is a hypothetical axis

PRM.IA1,IA2(19696#0,1)

- the inclination angle (PRM.19683,19688)

- the reference angle RA,RB (PRM.19698,19699)

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

29/30

PS5421 ILLEGAL COMMAND IN

G43.4/G43.5

An illegal command was specified in tool center point control.

- A rotation axis command was specified in tool center point

control (type 2) mode.

- With a table rotary type or mixed-type machine, a I,J,K

command was specified in the tool center point control (type 2) command (G43.5) block.

- A command that does not move the tool center point (only a

rotation axis is moved) was specified for the workpiece in the G02/G03 mode.

- When the workpiece coordinate system is set as the

programming coordinate system (bit 5 (WKP) of parameter No. 19696 is 1), G02 or G03 was specified while the rotation axis was not perpendicular to the plane.

- A G code not specifiable during the tool center point control

mode was specified.

- The modal code used to specify tool center point control is

incorrect.

- If, in tool center point control mode, any of the following

conditions is met, an axis not related to tool center point control (non 5-axis machining control axis) is specified: (1) The option, the expansion of axis move command in tool

center point control, is not provided.

(2) The number of non 5-axis machining control axes exceeds

the maximum number of axes that can be specified.

(3) Nano smoothing or NURBS interpolation is performed.

- When bit 0 (RCM) of parameter No. 11200 is set to 0 to disable

tool direction compensation, tool center point control is specified during the workpiece setting error compensation/tilted working plane command mode.

- When tool posture control is enabled under tool center point

control (type 2), a command is specified to set a tool posture near a singular point. (This alarm may be suppressed with bit 3 (NPC) of parameter No. 19696.) Check the machine configuration and specification.

- When tool posture control is enabled under tool center point

control (type 1), a rotary axis angular displacement that disables tool posture control is specified. Check the machine configuration and specification.

- During tool center point control (type 2) or tool posture control,

nano smoothing or NURBS interpolation is specified. Check the specification.

- For nano smoothing in tool center point control (type 1), only

linear axes are specified as axes for nano smoothing. Specify rotation axes.

- In a state in which the shift of a mirror image remains, tool

center point control, tool posture control, or the cutting point command is specified.

- It is intervated with an MDI command during a single block stop

in high-speed smooth TCP mode.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

High-speed Smooth TCP

B-64484EN/01-01

30/30

Add the following description in Limitation of Ⅲ.PROGRAMMING 3.7 “RIGID TAPPING BY MANUAL

HANDLE”.

- Feed forward

In rigid tapping by manual handle, feed forward is disabled even if bit 2 (RFF) of parameter No. 5203 is set to 1 (Feed forward is enabled in rigid tapping).

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Rigid tapping by manual handle

B-64484EN/01-01

1/1

Insert the following descriptions as 8.2.6 "Inputting and Outputting Three-dimensional Rotary Error Compensation

Data" of III OPERATION. And move the following item numbers one by one.

8.2.6 Inputting and Outputting Three-dimensional Rotary Error

Compensation Data

8.2.6.1 Inputting three-dimensional rotary error compensation data

Three-dimensional rotary error compensation data are loaded into the memory of the CNC from an external device. The input format is the same as the output format. When a three-dimensional rotary error compensation data is loaded to a number where an old three-dimensional rotary error compensation data already exists, the newly loaded data replaces the existing data.

Inputting three-dimensional rotary error compensation data (for 8.4/10.4-inch display unit)

Procedure

1 Make the input device ready for reading.

2 Press the function key

3 Press the continuous menu key

until soft key [SETTING] appears.

Press the soft key [SETTING]. 4 Place the CNC in the MDI mode or the emergency stop state. 5 Enter 1 to “PARAMETER WRITE” in setting data.

Alarm SW0100 appears.

6 Press the function key

7 Press the continuous menu key

until soft key [3D ERR ROT] appears.

Press the soft key [3D ERR ROT]. 8 Place the CNC in the EDIT mode or the emergency stop state. 9 Press the soft key [(OPRT)].

10 Press the continuous menu key

until soft key [READ] appears.

Press the soft key [READ]. 11 Type the name of the file that you want to input.

If the input file name is omitted, default input file name “CMP3DROT.TXT” is assumed. 12 Press the soft key [EXEC].

This starts reading the three-dimensional rotary error compensation data, and “INPUT” blinks in the lower

right part of the screen. When the read operation ends, the “INPUT” indication disappears.

To cancel the input of the program, press the soft key [CAN].

13 Press the function key

14 Press the soft key [SETTING]. 15 Place the CNC in the MDI mode or the emergency stop state. 16 Enter 0 to “PARAMETER WRITE” in setting data. 17 Turn off and on the power of the CNC again.

Date

Design

2010.0617

Design

Description Page

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

1/9

Inputting three-dimensional rotary error compensation data (for 15/19-inch display unit)

Procedure

1 Make the input device ready for reading.

2 Press the function key

3 Press the vertical soft key [NEXT PAGE] until vertical soft key [SETTING] appears.

Press the vertical soft key [SETTING]. 4 Place the CNC in the MDI mode or the emergency stop state. 5 Enter 1 to “PARAMETER WRITE” in setting data.

Alarm SW0100 appears.

6 Press the function key

7 Press the vertical soft key [NEXT PAGE] until vertical soft key [3D ERR ROT] appears.

Press the vertical soft key [3D ERR ROT]. 8 Place the CNC in the EDIT mode or the emergency stop state. 9 Press the horizontal soft key [READ]. 10 Type the name of the file that you want to input.

If the input file name is omitted, default input file name “CMP3DROT.TXT” is assumed. 11 Press the horizontal soft key [EXEC].

This starts reading the three-dimensional rotary error compensation data, and “INPUT” blinks in the lower

right part of the screen. When the read operation ends, the “INPUT” indication disappears.

To cancel the input of the program, press the horizontal soft key [CAN].

12 Press the function key

13 Press the vertical soft key [SETTING]. 14 Place the CNC in the MDI mode or the emergency stop state. 15 Enter 0 to “PARAMETER WRITE” in setting data. 16 Turn off and on the power of the CNC again.

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

2/9

8.2.6.2 Outputting three-dimensional rotary error compensation data

All three-dimensional rotary error compensation data are output in the output format from the memory of the CNC to an external device.

Outputting three-dimensional rotary error compensation data (for 8.4/10.4-inch display unit)

Procedure

1 Make the output device ready for output.

2 Press the function key

3 Press the continuous menu key

until soft key [3D ERR ROT] appears.

Press the soft key [3D ERR ROT]. 4 Place the CNC in the EDIT mode or the emergency stop state. 5 Press the soft key [(OPRT)].

6 Press the continuous menu key

until soft key [PUNCH] appears.

Press the soft key [PUNCH]. 7 Type the file name that you want to output.

If the file name is omitted, default file name “CMP3DROT.TXT” is assumed. 8 Press the soft key [EXEC].

This starts outputting the three-dimensional rotary error compensation data, and “OUTPUT” blinks in the

lower right part of the screen. When the write operation ends, the “OUTPUT” indication disappears.

To cancel the output, press the soft key [CAN].

Outputting three-dimensional rotary error compensation data (for 15/19-inch display unit)

Procedure

1 Make the output device ready for output.

2 Press the function key

3 Press the vertical soft key [NEXT PAGE] until vertical soft key [3D ERR ROT] appears.

Press the vertical soft key [3D ERR ROT]. 4 Place the CNC in the EDIT mode or the emergency stop state. 5 Press the horizontal soft key [PUNCH]. 6 Type the file name that you want to output.

If the file name is omitted, default file name “CMP3DROT.TXT” is assumed. 7 Press the horizontal soft key [EXEC].

This starts outputting the three-dimensional rotary error compensation data, and “OUTPUT” blinks in the

lower right part of the screen. When the write operation ends, the “OUTPUT” indication disappears.

To cancel the output, press the horizontal soft key [CAN].

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

3/9

Input/output format of three-dimensional rotary error compensation data

Three-dimensional rotary error compensation data is input and output in the following input and output formats.

- Keywords

The following alphabets are used as keywords. The numeric value following each keyword has the meaning listed below:

Keyword Meaning of the following numeric value

N Data number (compensation point number + 200000) as represented with six digits A1 Translational error compensation value (Cnx) A2 Translational error compensation value (Cny) A3 Translational error compensation value (Cnz) A4 Rotary error compensation value (Cnα) A5 Rotary error compensation value (Cnβ) A6 Rotary error compensation value (Cnγ)

P Compensation data (-128 to 127)

- Format

Three-dimensional rotary error compensation data is output in the following format:

N ***** A1 P **** A2 P **** A3 P **** A4 P **** A5 P **** A6 P **** ;

The 6-digit numeric value following N indicates the number of <a three-dimensional rotary error compensation data number + 200000>. The numeric value following P indicates the value (integer value) of three-dimensional rotary error compensation data between -128 and 127. The semicolon (;) indicates the end of block (LF in the ISO code or CR in the EIA code).

Example

N200001A1P1A2P2A3P3A4P4A5P5A6P-1; Three-dimensional rotary error compensation data number: 1 Translational error compensation data value (Cnx): 1 Translational error compensation data value (Cny): 2 Translational error compensation data value (Cnz): 3 Rotary error compensation data value (Cnα): 4 Rotary error compensation data value (Cn Rotary error compensation data value (Cn

): 5

): -1

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

4/9

- Beginning and end of a record

A Three-dimensional rotary error compensation data record begins with % and ends with %.

Example (Tool head rotation type machine)

% ; .............................................................Beginning of record

N200001 A1 P1 A2 P2 A3 P3 A4 P2 A5 P3 A6 P-1 ; N200002 A1 P0 A2 P0 A3 P-3 A4 P2 A5 P3 A6 P-1;

Compensation value of compensation space for linear axes

: : N207001 A1 P1 A2 P2 A3 P3 A4 P2 A5 P1 A6 P-1 ; N207002 A1 P1 A2 P2 A3 P3 A4 P2 A5 P3 A6 P-11 ;

Compensation value of compensation space for rotary axes

N207812 A1 P1 A2 P2 A3 P3 A4 P2 A15 P3 A6 P-1 ; :

% ...............................................................End of record

- Input of compensation data using G10

Compensation data can be changed from a machining program, using the programmable parameter input function.

The command format is as follows:

% G10 L53 ; N_ P_ R_ ; N_ P_ R_ ; : G11 ; %

G10 L51 : Three-dimensional rotary error compensation data input mode G11 : Cancellation of three-dimensional rotary error compensation data input mode N : Compensation point number (1-7812) P1 : Translational error compensation value (Cnx) P2 : Translational error compensation value (Cny) P3 : Translational error compensation value (Cnz) P4 : Rotary error compensation value (Cn P5 : Rotary error compensation value (Cn P6 : Rotary error compensation value (Cn

)

R : Compensation data (-128-127)

NOTE

1 In three-dimensional rotary error compensation data input mode, no other NC

statements can be commanded.

2 The decimal point cannot be used in address N, P, and R.

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

5/9

Insert the following descriptions as 12.4.4 " Displaying and setting three-dimensional rotary error compensation data

" of III OPERATION. And move the following item numbers one by one.

12.4.4 Displaying and setting three-dimensional rotary error

compensation data

During 5-axis machining, adding to the translational error, the rotary error around X,Y,Z axes increases, because of the weight of the tool, the tool head, the work-piece or the table, the deviation of the rotary axis center, machine assembly error etc. With this feature, the translational errors and the rotary errors are set on each compensation point in the compensation space, the compensation data are calculated at the current machine position, and the errors are compensated with the calculated compensation data so that the tool center point (TCP) is on the commanded point without the errors.

Displaying and setting three-dimensional rotary error compensation data (10.4-inch Display Unit)

Procedure

1 Select the MDI mode. 2 Set bit 0 (PWE) of parameter No. 8900 to 1.

3 Press function key

4 Press the continuous menu key

The following screen appears:

several times, then press chapter selection soft key [3D ERR ROT].

Fig.12.4.4 (a) THREE-DIMENSIONAL ROTARY ERROR COMPENSATION screen (10.4-inch display unit)

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

6/9

5 Move the cursor to the position of the compensation point number you want to set using either of the

following methods:

- Enter a compensation point number and press soft key [NO. SRH].

- Move the cursor to the compensation point number or compensation value you want to set by pressing

page keys

and/or , and cursor keys , , , and .(The selected

compensation point number is displayed in yellow.)

6 Push the number keys for the data, translational error compensation data in detection unit, or rotary error

compensation data in the unit 0.001deg(For example, 10 is 0.01deg). The range is –128 to 127. (It is possible to multiply the compensation magnification of the parameter No.10785-No.10788 to the

translational error compensation value and the rotary error compensation value, if necessary.) 7 Push the soft-key [INPUT] or the MDI key <INPUT>. 8 The data is input to compensation data where the cursor is.

Displaying and setting Three-dimensional rotary error compensation data (8.4-inch Display Unit)

Procedure

1 Press function key .

2 Press the continuous menu key The following screen appears:

(When the “3D ERR” key is pushed again, the machine position of the fifth axis is displayed.)

several times, then press chapter selection soft key [3D ERR].

Fig.12.4.4 (b) THREE-DIMENSIONAL ROTARY ERROR COMPENSATION screen (8.4-inch display unit)

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

7/9

Displaying and setting Three-dimensional rotary error compensation data(15/19-inch Display Unit)

Procedure

1 Press function key .

2 Press vertical soft key [NEXT PAGE] several times, then press vertical soft key [3D ERR ROT]. The

following screen appears:

Fig.12.4.4 (c) THREE-DIMENSIONAL ROTARY ERROR COMPENSATION screen (15-inch display unit)

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

8/9

Add the following alarm to APPENDIX H “ALARM LIST”.

Number Massage

PW1105 ILLEGAL PARAMETER (3DR-COMP) Parameter setting for three-dimensional rotary error

compensation is wrong. One of the following may be the cause.

- The designation for rotary axes is wrong.

- The number of the total compensation points is larger than 7812.

- The designation for machine type is wrong.

- The designation for compensation axis is wrong.

- The setting for compensation number of reference point is wrong.

- The setting for compensation interval is wrong.

Description

Date

Design

2010.0617

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

Three-dimensional rotary error compensation

B-64484EN/01-01

9/9

II PROGRAMMING 22.10 “5-axis machining configuration selecting function” is added.

22.10 5-axis machining configuration selecting function

Overview

The 5-axis machining configuration selecting function allows easy switching 5-axis machining configuration in the multi axis machine system. Ten sets of parameters for 5-axis machining configuration are saved. One of those can be selected according to the G10.8 L3 command, and the values of selected parameter set are reflected to the actual parameters, and the 5-axis machining configuration is switched. Therefore, in the machine having Tool head or Rotary table whose position can be changed, parameters for 5-axis machining configuration can be switched by only one command. Ten sets of parameters for these 5-axis machining configurations can be set on 5-axis machining configuration selecting screen.

20.10.1 5-axis machining configuration selecting screen

Ten sets of parameters for 5-axis machining configurations are called 5-axis machining configuration data. The 5-axis machining configuration data are independent for each path. The 5-axis machining configuration data in currently displayed path are displayed on the 5-axis machining configuration selecting screen. The numbers of data displayed in each path are set by parameter No.11266. The number of 5-axis machining configuration sets that can be used in all paths is up to 10.

II III

Fig.20.10.1 (a) 5-axis machining configuration selecting screen

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

1/8

Screen structure

I Parameter ： Present parameter values in currently displayed path are displayed. II Active 5-axis machining configuration set：

The set number and the name of the active 5-axis machining configuration data are displayed.

III Set number： The set numbers of the 5-axis machining configuration data is displayed. IV 5-axis machining configuration set name： The names of 5-axis machining configuration data are displayed. V 5-axis machining configuration data： The 5-axis machining configuration data are displayed.

NOTE

The set number and the name last selected by 5-axis machining configuration selecting command are displayed in II "active 5-axis machining configuration set". Therefore, when the NC parameter is rewritten or 5-axis machining configuration data are changed, present NC parameter and 5-axis machining configuration data might be different. When a present NC parameter and the parameter of 5-axis machining configuration data under the selecting are different, the parameter value of 5-axis machining configuration data is displayed in red character. Moreover, the set number and the name of screen upper "5-axis machining configuration under selecting " are displayed in red character.

Additionally, when the soft key [(OPRT)] is pressed, the following soft keys are displayed.

Fig.20.10.1 (b) soft key

[NO.SRH] ：Input the searched data number and press this soft key. The cursor moves to the target data. [ON:1] ：When the soft key is pressed ,'1' is set to the bit type data on cursor position. [OFF:0] ：When the soft key is pressed ,'0' is set to the bit type data on cursor position. [+INPUT] ：After a number is entered, pressing soft key [+INPUT] causes the number to be added. [INPUT] ：After a number is entered, pressing soft key [INPUT] causes the number to be set. [READ] ：5-axis machining configuration data are read from an external device. [PUNCH] ：5-axis machining configuration data are output to an external device.

20.10.2 Switching 5-axis machining configuration

5-axis machining configuration data of the set number specified by the instruction of 5-axis machining configuration selecting command in each path are reflected to the present NC parameters. As a result, 5-axis machining configuration can be easily switched. 5-axis machining configuration data of the selected set number are reflected to the NC parameters by executing the following instruction by the program.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

2/8

Format

5-axis machining setting selection G10.8 L3 P_;

P_ ：5-axis machining configuration set No.1 to 10

Example

Example program for switching 5-axis machining configuration

N010 G10.8 L3 P7; Switching to No.7 of 5-axis machining configuration N020 G54 G90 G00 X0 Y0 Z0 B0 C0;

Command G10.3 L3 only after canceling the following 5-axis machining function mode.

Tool center point control High-speed smooth TCP Tool posture control Cutting point command Tilted working plane command 3-dimensional cutter compensation Workpiece setting error compensation

NOTE

If G10.8L3 is specified in the following modes, each alarm is issued.

(1) Tool center point control (2) High-speed smooth TCP (3) Tool posture control (4) Cutting point command (5) Tilted working plane command (6) 3-dimensional cutter compensation ：PS5460 “ILLEGAL USE OF 3-DIMENSIONAL CUTTER COMPENSATION” (7) Workpiece setting error compensation：PS0437 “ILLEGAL COMMAND IN WSC”

PS5421 “ILLEGAL COMMAND IN G43.4/G43.5”

：

PS5421 “ILLEGAL COMMAND IN G43.4/G43.5”

：

PS5421 “ILLEGAL COMMAND IN G43.4/G43.5”

：

PS5464 “ILLEGAL COMMAND IN G43.8/G43.9”

：

PS5462 “ILLEGAL COMMAND (G68.2/G69)”

：

5-axis machining configuration data

The value corresponding to the following parameter is set to 5-axis machining configuration data.

Table 20.10.2 (a) Parameters that can be set

Parameter No. Description Data type

1022 Setting of each axis in the basic coordinate system Byte axis

19665#4

19665#5

19666 Tool holder offset value Real path 19667 Controlled-point shift vector Real axis 19680 Mechanical unit type Byte path 19681 Controlled axis number for the first rotation axis Byte path 19682 Axis direction of the first rotation axis Byte path 19683 Inclination angle when the first rotation axis is an inclined axis Real path 19684 Rotation direction of the first rotation axis Byte path 19685 Rotation angle when the first rotation axis is a hypothetical axis Real path 19686 Controlled axis number for the second rotation axis Byte path 19687 Axis direction of the second rotation axis Byte path 19688 Inclination angle when the second rotation axis is inclined Real path 19689 Rotation direction of the second rotation axis Byte path

0 : The controlled point is shifted by automatic calculation. 1 : The controlled point is shifted by using parameter No. 19667.

0 : The controlled point is not shifted. 1 : The controlled point is shifted.

Bit path

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

3/8

Parameter No. Description Data type

19690 Rotation angle when the second rotation axis is a hypothetical axis Real path

19696#0

19696#1

19697 Direction of the reference tool axis Byte path 19698 Angle when the reference tool axis direction is tilted (reference angle RA) Real path 19699 Angle when the reference tool axis direction is tilted (reference angle RB) Real path 19700 Rotary table position (X-axis of the basic three axes) Real path 19701 Rotary table position (Y-axis of the basic three axes) Real path 19702 Rotary table position (Z-axis of the basic three axes) Real path

19703

19704

19705

19709

19710

19711

19712

19713

19714

19741 Upper limit of the movement range of the first rotation axis Real path 19742 Lower limit of the movement range of the first rotation axis Real path 19743 Upper limit of the movement range of the second rotation axis Real path 19744 Lower limit of the movement range of the second rotation axis Real path

0 : The first rotation axis is an ordinary rotation axis. 1 : The first rotation axis is a hypothetical axis.

0 : The second rotation axis is an ordinary rotation axis. 1 : The second rotation axis is a hypothetical axis.

Intersection offset vector between the first and second rotation axes of the table (X-axis of the basic three axes)

Intersection offset vector between the first and second rotation axes of the table (Y-axis of the basic three axes)

Intersection offset vector between the first and second rotation axes of the table (Z-axis of the basic three axes)

Intersection offset vector between the tool axis and tool rotation axis (X-axis of the basic three axes)

Intersection offset vector between the tool axis and tool rotation axis (Y-axis of the basic three axes)

Intersection offset vector between the tool axis and tool rotation axis (Z-axis of the basic three axes)

Intersection offset vector between the second and first rotation axes of the tool (X-axis of the basic three axes)

Intersection offset vector between the second and first rotation axes of the tool (Y-axis of the basic three axes)

Intersection offset vector between the second and first rotation axes of the tool (Z-axis of the basic three axes)

Bit path

Real path

20.10.3 Setting 5-axis machining configuration data

5-axis machining configuration data can be set by the following 3 methods.

Setting from 5-axis machining configuration data screen. Setting by G10. Input from external device.

The setting method is explained as follows.

Setting from 5-axis machining configuration data screen (Setting by MDI key)

1. Press the function key

2. Press the continuous menu key Press the soft key [SETTING].

3. Press the MDI switch on the machine operator’s panel or enter state emergency stop.

until soft key [SETTING] appears.

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

Date

Design

2010.06.17

Design

Description Page

Approve

4/8

4. Enter 1 in response to the prompt for “PARAMETER WRITE” in setting data.

5. Press the soft key [<].

6. Press the continuous menu key

until soft key [5axis config] appears.

Press the soft key [5axis config].

7. Move the cursor to the parameter number of a 5-axis machining configuration data you want to set by

pressing page keys

and/or and cursor keys , , , and/or .

Please refer to the number in the screen left end for the parameter number.

8. Enter the value that is set to the parameter with numeric keys.

9. For direct input of the value set, press the key

or the [INPUT] soft key.

For incremental input of the value set, press the [+INPUT] soft key.

Date

Design

2010.06.17

Design

Description Page

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

5/8

Setting by G10

5-axis machining configuration data and name can be set by specifying G10.

Format

G10 L25 ;

5-axis machining configuration data entry mode I_ P_ N_ R_ ; I_ P_ N_ Q_ R_ ; I_ P_ N_ A_ R_ ; I_ P_ <***********>;

G11 ;

configuration data : Real path type, Byte path type

configuration data : Bit path type

configuration data : Byte axis type, Real axis type

configuration name

Cancel 5-axis machining configuration data entry

mode

Configuration data I_ : path number to use 5-axis machining configuration set for P_ : 5-axis machining configuration set number 1 to 10 N_ : Parameter number to which 5-axis machining configuration corresponds R_ : Parameter setting value Q_ : Bit number A_ : Axis number * : 5-axis machining configuration name (12 characters or less in ASCII code)

Example

(1) Setting configuration data：byte path type (No.19680)

G10 L25 ; I2 P1 N19680 R21 ; No.19680 of the 1st set of path 2 = 21 (Mechanical unit type is mixed type) G11 ;

(2) Setting configuration data：bit path type (No.19665#4#5)

G10 L25 ; I2 P2 N19665 Q4 R0 ; No.19665#4 of the 2nd set of path 2 = 0 (The controlled point is shifted by

automatic calculation) I2 P2 N19665 Q5 R1 ; No.19665#5 of the 2nd set of path 2 = 1 (The controlled point is shifted) G11 ;

(3) Setting configuration data：real axis type (No.19667)

(When the increment systems for the 1st, 2nd and 3rd axis are IS-B and metric input, respectively) G10 L25 ; I1 P1 N19667 A1 R4.500 ; the 1st axis No.19667 of the 1st set of path 1 = 4.500

(Controlled-point shift vector 1st axis = 4.500) I1 P1 N19667 A2 R12.000 ; the 2nd axis No.19667 of the 1st set of path 1 = 12.000

(Controlled-point shift vector 2nd axis = 12.000) I1 P1 N19667 A3 R0 ; the 3rd axis No.19667 of the 1st set of path 1 = 0.000

(Controlled-point shift vector 3rd axis = 0.000) G11 ;

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

6/8

NOTE

In the value of the real type data R, the unit of the command without decimal point becomes as follows by the parameter DPI (bit 0 of No. 3401).

0 1

(4) Setting configuration name：

G10 L25 ; I2 P3 <MILLING_CON3>; The name of configuration the 3rd set for the 2nd path = “MILLING_CON3” I2 P4 <TURNING_CON1>; The name of configuration the 4th set for the 2nd path = “TURNING_CON1” G11 ;

Least input increment is assumed.

：

mm, inch, and degree units are assumed.

：

20.10.4 Inputting and Outputting 5-axis machining configuration data

5-axis machining configuration data can be input and output by the operation on the 5-axis machining configuration data screen. The operating procedure is as follows.

Inputting 5-axis machining configuration data

1. Make sure the input device is ready for reading.

2. Press the function key

3. Press the continuous menu key

4. Press the soft key [5axis config].

5. Press the EDIT switch on the machine operator’s panel or enter state emergency stop.

6. Press the soft key [OPRT].

7. Press the soft key [READ].

8. Type the name of the file that you want to input. If the file name is omitted, default input file name “5AXISCON.TXT” is assumed.

9. Press the soft key [EXEC]. This starts reading the 5-axis machining configuration data, and “INPUT” blinks in the lower right part of the screen. When the read operation ends, the “INPUT” indication disappears. To cancel the input of the program, press the soft key [CAN].

until soft key [5axis config] appears.

Outputting 5-axis machining configuration data

1. Make sure the input device is ready for output.

2. Press the function key

3. Press the continuous menu key

Date

Design

2010.06.17

Design

until soft key [5axis config] appears.

Description Page

Approve

Title

Draw No.

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

7/8

4. Press the soft key [5axis config].

5. Press the EDIT switch on the machine operator’s panel or enter state emergency stop.

6. Press the soft key [OPRT].

7. Press the soft key [PUNCH].

8. Type the name of the file that you want to output. If the file name is omitted, default input file name “5AXISCON.TXT” is assumed.

9. Press the soft key [EXEC]. This starts outputting the 5-axis machining configuration data, and “OUTPUT” blinks in the lower right part of the screen. When the write operation ends, the “OUTPUT” indication disappears. To cancel the input of the program, press the soft key [CAN].

Format

The basis is the same as the specifying G10.

APPENDIX “A PARAMETERS” Following parameter is added.

Parameter

11266 Active 5-axis machining configuration set number

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input [Data type] Byte path [Valid data range] 0 to 10

The number of 5-axis machining configuration sets that can be used in all paths is up to 10. When the total number of the sets exceeds 10, the set number is assigned in order with small path number by priority. Example)

In case of setting as the followings, Path1: 6sets, Path2: 8sets, Path3: 4sets. Actually the set number is assigned as the followings, Path1: 6sets, Pathe2: 4sets, Path3: 0set.

In case of setting all zero for all paths, 10 sets are used for the 1st path.

NOTE

When this parameter is set, the saved 5-axis machining configuration

data is cleared. The backup to external devices is recommended before it is set.

Date

Design

2010.06.17

Design

Title

Draw No.

Description Page

Approve

FANUC Series 30i / 31i / 32i-MODEL B

5-axis machining configuration selecting function

B-64484EN/01-01

8/8

FANUC 30i-B, 31i-B, 32i-B Operators Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

B-64484EN/01-01

10.12.2 Copy of program file with memory card device

10.12.3 Deleting files in memory card device

10.12.4 Overwriting confirmation when programs are input

10.12.5 Overwriting confirmation when file is output

11.5.1 DELETING A FOLDER RECURSIVELY

11.13 Folder management

11.13.1 Program management under the path folder

11.13.2 Program management only in the path folder

11.13.3 Folder for subprogram/macro calls

12.4.15 Power consumption monitoring screen

12.4.30 Power consumption monitoring screen (15/19-inch display unit)

5.7 Rate Feed

7.5 Plane Conversion Function

18 PROGRAMMABLE PARAMETER INPUT (G10)

Input/output format of pitch error compensation data

22.2 High-speed Smooth TCP

22.2.1 High-speed Smooth TCP

9.2.1.1 Rotation axes compensation (G43.4L1)

9.2.1.2 Smooth control (G43.4P3)

22.2.2 Tolerance change in High-speed Smooth TCP mode

9.2.2.1 Tolerance change in Rotation axes compensation (G43.4L1)

9.2.2.2 Tolerance change in Smooth control (G43.4P3)

22.2.3 Information Display in High-speed Smooth TCP

8.2.6.1 Inputting three-dimensional rotary error compensation data

8.2.6.2 Outputting three-dimensional rotary error compensation data

22.10 5-axis machining configuration selecting function

20.10.1 5-axis machining configuration selecting screen

20.10.2 Switching 5-axis machining configuration

20.10.3 Setting 5-axis machining configuration data

20.10.4 Inputting and Outputting 5-axis machining configuration data