okuma OSP-P200M, OSP-P200MA Instruction Manual

CNC SYSTEM

OSP-P200M/P200MA

5-AXIS MACHINING FUNCTION

INSTRUCTION MANUAL (5th Edition)

Pub. No. 5611-E-R4 (ME61-214-R5) Jan. 2011

PART 1 5-AXIS MACHINING FUNCTION
SECTION 1 ACTUAL POSITION DISPLAY...................................................	2
SECTION 2 MANUAL FEED FUNCTION ......................................................	8
SECTION 3 TOOL CENTER POINT CONTROL.........................................	20
SECTION 4 TOOLAXIALDIRECTION TOOLLENGTH COMPENDSATION ......	32
SECTION 5 TOOL SIDE COMPENSATION ................................................	40
SECTION 6 LEADING EDGE COMPENSATION........................................	48
SECTION 7 TOOL ATTITUDE COMMAND FUNCTION .............................	60
SECTION 8 TOOL POSTURE COMPENSATION FUNCTION...................	72
SECTION 9 ROTARY AXIS PIVOT DISTANCE COMPENSATION
FUNCTION ...............................................................................	81
SECTION 10 SLOPE MACHINING FUNCTION 2.........................................	88
PART 2 PARAMETERS
SECTION 1 ROTARY AXIS PARAMETERS.............................................	151
PART 3 PROCEDURES FOR MEASURING AND SETTING ROTARY
AXIS CENTER POSITION
SECTION 1 TWO ROTARY AXES ON THE TABLE (ROTARY
C-AXIS/INCLINED A-AXIS)...................................................	158
SECTION 2 TABLE AXIS AND SPINDLE AXIS (ROTARY C-AXIS
ON THE TABLE AND INCLINED A- OR B-AXIS OF THE
SPINDLE) ..............................................................................	167
SECTION 3 TWO SPINDLE AXES
(ROTARY C-AXIS/INCLINED B-AXIS) .................................	180
SECTION 4 TWO TABLE AXES (ROTARY A-AXIS/INCLINED B-AXIS) . 192

Table of Contents
PART 1 5-AXIS MACHINIG FUNCTION
SECTION 1 ACTUAL POSITION DISPLAY...................................................		2
1.	Overview ..................................................................................................................................	2
2. ACTUAL POSITION display.....................................................................................................		2
2-1. Display of Various Types of Coordinate Systems .........................................................................		2
2-2. Display of Status Indicator Lamp...................................................................................................		7
SECTION 2 MANUAL FEED FUNCTION ......................................................		8
1. Tool Axial Direction Manual Feed and Perpendicular to the Tool Axial Direction Manual Feed.........		8
1-1. Overview ........................................................................................................................................		8
1-2. Operation .......................................................................................................................................		9
1-3. Screen Display.............................................................................................................................		10
2. Table Coordinate Manual Feed ..............................................................................................		14
2-1. Overview ......................................................................................................................................		14
2-2. Operation .....................................................................................................................................		15
3. Tool Nose Center Manaul Feed..............................................................................................		16
3-1. Overview ......................................................................................................................................		16
3-2. Operation .....................................................................................................................................		16
4.	Other Optional Functions .......................................................................................................	18
4-1. I-MAP ...........................................................................................................................................		18
4-2. Manual Gauging...........................................................................................................................		18
4-3. Interactive Gauging......................................................................................................................		18
4-4. Manual Angle/Circle Feed ...........................................................................................................		18
5. Alarm List................................................................................................................................		19
5-1. Alarm A.........................................................................................................................................		19
5-2. Alarm D ........................................................................................................................................		19
SECTION 3 TOOL CENTER POINT CONTROL.........................................		20
1.	Overview ................................................................................................................................	20
1-1. Definition of the coordinate system for the table having a rotary axis ........................................		21
2. Program Commands ..............................................................................................................		22
2-1. Command Format........................................................................................................................		22
2-2. Program Commands in G169 Mode ...........................................................................................		25
3.	System Variables....................................................................................................................	27
4.	Operation in Zero Setting Screen...........................................................................................	27
5.	Operation in Tool Length Offset / Cutter Radius Compensation Screen................................	27
6.	Parameters.............................................................................................................................	28
7.	Optional Functions .................................................................................................................	28

7-1. I-MAP ...........................................................................................................................................	28
7-2. Real 3D Animated Simulation......................................................................................................	28
7-3. Measurement Cycle.....................................................................................................................	28
7-4. Collision Avoidance System ........................................................................................................	28
8. Alarm List................................................................................................................................	29
8-1. Alarm A.........................................................................................................................................	29
8-2. Alarm B.........................................................................................................................................	29
8-3. Alarm D ........................................................................................................................................	30
8-4. Error .............................................................................................................................................	31
SECTION 4 TOOL AXIAL DIRECTION TOOL LENGTH
COMPENDSATION..................................................................	32
1. Overview ................................................................................................................................	32
2. Program Commands ..............................................................................................................	33
2-1. Command Format........................................................................................................................	33
2-2. Program Commands in G171 Mode ...........................................................................................	34
2-3. Points to be Noted .......................................................................................................................	35
3. Parameters.............................................................................................................................	36
4. Alarm List................................................................................................................................	37
4-1. Alarm A.........................................................................................................................................	37
4-2. Alarm B.........................................................................................................................................	38
4-3. Alarm D ........................................................................................................................................	39
SECTION 5 TOOL SIDE COMPENSATION ................................................	40
1. Overview ................................................................................................................................	40
2. Program Command................................................................................................................	40
2-1. Command Format........................................................................................................................	40
2-2. Tool Side Compensation Mode and Other Command Modes....................................................	41
2-3. Commands during Tool Side Compensation Mode ....................................................................	41
3. Tool Movement During the Tool Side Compensation .............................................................	42
4. Parameter...............................................................................................................................	43
5. Points to be Noted..................................................................................................................	43
6. Alarm List................................................................................................................................	44
6-1. Alarm B.........................................................................................................................................	44
SECTION 6 LEADING EDGE COMPENSATION........................................	48
1. Overview ................................................................................................................................	48
2. Program Command................................................................................................................	49
2-1. Command Format........................................................................................................................	49
2-2. Movement upon entering the leading edge compensation mode...............................................	49
2-3. Movement during the leading edge compensation is on ............................................................	50
2-4. Movement upon exiting the Leading Edge Compensation mode...............................................	51

2-5. Compensation Direction ..............................................................................................................	52
2-6. Functions forbidden while Leading Edge Compensation mode is ON .......................................	53
2-7. Functions disable leading edge compensation ...........................................................................	54
3. Parameter...............................................................................................................................	55
4. Alarm list.................................................................................................................................	55
SECTION 7 TOOL ATTITUDE COMMAND FUNCTION .............................	60
1. Overview.................................................................................................................................	60
2. Program Command................................................................................................................	61
2-1. Command Format........................................................................................................................	61
2-2. Parameter ....................................................................................................................................	62
2-3. How to Determine Angle..............................................................................................................	65
3. Alarm List................................................................................................................................	69
3-1. Alarm A.........................................................................................................................................	69
3-2. Alarm B.........................................................................................................................................	69
3-3. Alarm D ........................................................................................................................................	71
SECTION 8 TOOL POSTURE COMPENSATION FUNCTION...................	72
1. Overview.................................................................................................................................	72
2. Procedures .............................................................................................................................	73
2-1. Specification using parameter setting..........................................................................................	74
3. Alarm List................................................................................................................................	79
SECTION 9 ROTARY AXIS PIVOT DISTANCE COMPENSATION
FUNCTION ...............................................................................	81
1. OVERVIEW............................................................................................................................	81
2. Parameter Setting ..................................................................................................................	83
2-1. Pivot Distance Compensation .....................................................................................................	83
2-1-1. Spindle Center.........................................................................................................................	85
2-1-2. Table Center............................................................................................................................	86
SECTION 10 SLOPE MACHINING FUNCTION 2.........................................	88
1. Overview ................................................................................................................................	88
2. Slope Coordinate Conversion Command ..............................................................................	89
2-1. Overview ......................................................................................................................................	89
2-2. Program command ......................................................................................................................	90
2-2-1. Euler angles ............................................................................................................................	91
2-2-2. Roll - Pitch - Yaw Angles.........................................................................................................	92
2-2-3. 3 Points ...................................................................................................................................	93
2-2-4. 2 Vectors .................................................................................................................................	94
2-2-5. Projection ................................................................................................................................	95
2-2-6. Tool Axis Direction...................................................................................................................	96

2-2-7. Rotary Center Axis ..................................................................................................................	98
2-2-8. X, Y, Z-axis ..............................................................................................................................	99
2-2-9. Slope Cancel.........................................................................................................................	100
2-2-10. G codes and mnemonic codes used during slope coordinate conversion........................	101
2-2-11. Upper limit restoration (M52) ..............................................................................................	102
2-2-12. axis command cancel .........................................................................................................	102
2-2-13. pulse handle override..........................................................................................................	102
2-3. Screen display ...........................................................................................................................	103
2-3-1. Current position display ........................................................................................................	103
2-3-2. Shift amount display..............................................................................................................	103
2-4. Coordinate conversion in the manual operation mode .............................................................	103
2-5. Program example ......................................................................................................................	104
2-5-1. Usage example of Euler angle .............................................................................................	104
2-5-2. Usage example of 3 points ...................................................................................................	105
2-6. Parameter setting.......................................................................................................................	106
2-6-1. Slope machining parameter..................................................................................................	106
2-6-2. NC optional parameter (slope machining function)..............................................................	108
2-7. Alarm List ...................................................................................................................................	109
2-7-1. Alarm B..................................................................................................................................	109
3. Slope Indexing command.....................................................................................................	112
3-1. Overview ....................................................................................................................................	112
3-2. Indexing example for each machine type..................................................................................	113
3-2-1. Two table axes type ..............................................................................................................	113
3-2-2. Table and spindle type ..........................................................................................................	113
3-2-3. Two spindle axes type...........................................................................................................	114
3-3. Command format (G467)...........................................................................................................	115
3-4. Slope indexing operation and program sample ........................................................................	115
3-4-1. G467 P0 ................................................................................................................................	115
3-4-2. G467 P1 ................................................................................................................................	117
3-5. System variable .........................................................................................................................	119
3-6. Parameter ..................................................................................................................................	120
3-6-1. Rotary axis indexing range (NC axis)...................................................................................	120
3-6-2. Rotary Axis Indexing Range (Attachment) ...........................................................................	122
3-6-3. Rotary Axis Indexing .............................................................................................................	124
3-7. How to choose the indexing angle ............................................................................................	125
3-8. Alarm List ...................................................................................................................................	127
3-8-1. Alarm B....................................................................................................................................................................................	127
4. I-MAP function for Slope ......................................................................................................	128
4-1. Overview ....................................................................................................................................	128
4-1-1. Features...................................................................................................................................................................................	128
4-2. Loading the slope pattern selection screen...............................................................................	130
4-3. Operation on the slope pattern selection screen.......................................................................	133

4-3-1. Pattern selection ...................................................................................................................	133
4-3-2. Data setting ...........................................................................................................................	135
4-4. Setting item and program format on screens of “Slope (G469)”...............................................	136
4-4-1. Euler Angles ..........................................................................................................................	136
4-4-2. Roll - Pitch - Yaw Angles.......................................................................................................	136
4-4-3. 3 Points .................................................................................................................................	137
4-4-4. 2 Vectors ...............................................................................................................................	138
4-4-5. Projection ..............................................................................................................................	139
4-4-6. Tool Axial Direction................................................................................................................	139
4-4-7. Rotary Center Axis ................................................................................................................	140
4-4-8. XYZ Axis................................................................................................................................	140
4-4-9. Slope Cancel.........................................................................................................................	141
4-4-10. Slope Indexing ....................................................................................................................	141
4-4-11. Outline explanation of messages........................................................................................	142
4-4-12. Supplementary note............................................................................................................	143
4-5. Setting item and program format on screens of “Slope (G69)”.................................................	144
4-5-1. Slope (G69)...........................................................................................................................	144
4-5-2. Slope Cancel (G68) ..............................................................................................................	145
4-5-3. Outline explanation of messages .........................................................................................	145
4-5-4. Supplementary note..............................................................................................................	145
4-6. Convert.......................................................................................................................................	146
4-6-1. Conversion example .............................................................................................................	146
4-6-2.Supplementary note...............................................................................................................	149
_Toc278589520
PART 2 PARAMETERS
SECTION 1 ROTARY AXIS PARAMETERS.............................................	151
1. ROTARY AXIS PARAMETERS............................................................................................	151
1-1. Rotary Axis Attribute...................................................................................................................	151
1-2. Rotation Center..........................................................................................................................	154
1-3. Pivot Distance Compensation ...................................................................................................	156

_Toc278589526

PART 3 PROCEDURES FOR MEASURING AND SETTING ROTARY AXIS CENTER POSITION

SECTION 1 TWO ROTARY AXES ON THE TABLE		(ROTARY
	C-AXIS/INCLINED A-AXIS)...................................................	158
1. OVERVIEW..........................................................................................................................		158
2. MEASURING ROTARY AXIS CENTER POSITION ............................................................		158
2-1.	Measuring the Position of the C-axis Rotation Center ..............................................................	159
2-2.	Measuring the Position of the A-axis Rotation Center ..............................................................	160

3. SETTING ROTARY AXIS PARAMETERS ...........................................................................	162
3-1. Setting Values on the Pivot Distance Compensation Display...................................................	163
3-2. Setting Values on the Rotation Center Display .........................................................................	165
SECTION 2 TABLE AXIS AND SPINDLE AXIS
(ROTARY C-AXIS ON THE TABLE AND
INCLINED A- OR B-AXIS OF THE SPINDLE)......................	167
1. OVERVIEW..........................................................................................................................	167
2. MEASURING ROTARY AXIS CENTER POSITION ............................................................	168
2-1. Measuring the Position of the C-axis Rotation Center ..............................................................	169
2-2. Measuring the Position of the A-axis Rotation Center (MILLAC-800VH, etc.) .........................	170
2-3. Measuring the Position of the B-axis Rotation Center (MILLAC-1000VH, etc.) .......................	172
3. SETTING ROTARY AXIS PARAMETERS ...........................................................................	174
3-1. Setting Values on the Pivot Distance Compensation Display...................................................	175
3-2. Setting Values on the Rotation Center Display .........................................................................	178
SECTION 3 TWO SPINDLE AXES
(ROTARY C-AXIS/INCLINED B-AXIS) .................................	180
1. OVERVIEW..........................................................................................................................	180
2. MEASURING ROTARY AXIS CENTER POSITIONS..........................................................	180
2-1. Measuring the B-axis Rotation Center Position ........................................................................	181
2-2. Measuring the C-axis Rotation Center Position ........................................................................	184
3. SETTING ROTARY AXIS PARAMETERS ...........................................................................	187
3-1. Setting Values on the Pivot Distance Compensation Display...................................................	188
3-2. Setting Values on the Rotation Center Display .........................................................................	190
SECTION 4 TWO TABLE AXES (ROTARY A-AXIS/INCLINED
B-AXIS)..................................................................................	192
1. OVERVIEW..........................................................................................................................	192
2. MEASURING ROTARY AXIS CENTER POSITION ............................................................	192
2-1. Measuring the Position of the A-axis Rotation Center ..............................................................	193
2-2. Measuring the Position of the B-axis Rotation Center ..............................................................	195
3. SETTING ROTARY AXIS SYSTEM PARAMETERS ...........................................................	197
4. SETTING ROTARY AXIS PARAMETERS ...........................................................................	198
4-1. Setting Values on the Rotary Axis Attribute Display..................................................................	199
4-2. Setting Values on the Pivot Distance Compensation Display...................................................	200
4-3. Setting Values on the Rotation Center Display .........................................................................	202

PART 1 5-AXIS MACHINING FUNCTION

- 1 -

SECTION 1 ACTUAL POSITION DISPLAY

1. Overview

This manual explains about the displays of coordinate values and status indicators used in the 5-axis machining functions in the AUTO, MDI, and MANUAL modes.

2. ACTUAL POSITION display

2-1. Display of Various Types of Coordinate Systems

(1) Actual Position Display of Current Coordinate System

Fig. 1-1 Actual position display screen of current coordinate system

The second page of the actual position display under the operation mode screen shows the coordinate values of the currently selected coordinate system.

The current position display function is available for the following types of coordinate systems:

-Local coordinate system

-Work coordinate system

-Slope coordinate system

-Slope local coordinate system

-Table coordinate system

You can check which coordinate system is currently selected in the comment next to the ACT POSI and DISTANCE at top of the screen.

- 2 -

Fig. 1-2 Local coordinate system

Fig. 1-3 Work coordinate system

Fig. 1-4 Slope coordinate system

Fig. 1-5 Slope local coordinate system

Fig. 1-6 Table coordinate system

The display shows the coordinate values of up to 6 axes including linear and rotary axes in one page. For X, Y, and Z-axes, coordinate system is converted and displayed. For rotary and the additional linear axes, the current positions of the work coordinate system are to be displayed.

- 3 -

(2) Actual Position of Table Coordinate System

Fig. 1-7 Actual Position of Table Coordinate System

The display shows the coordinate values of the table coordinate system and work coordinate system in one page. The current position and distance to the target are shown for both coordinate systems. The rotary axis is only on the Table side and it is shown in the work coordinate system. Indicator lamp saying T. C. P. C. that indicates that the system is in the tool center point control mode is shown at the right top, to the left of the page number.

[Supplement]

1)This screen appears when the following conditions are met:

-Tool nose point control, manual feed of tool nose center, or manual feed of table basic coordinate is effective.

-The machine is constructed so that the table has a rotary axis.

- 4 -

(3) Actual Position, APA, Shift Amount, Target Point, and Distance to Target at a Glance

Fig. 1-8 Display Screen for Actual Position of Each Coordinate System, APA, Shift Amount, Target Point, Dis-

					tance Remaining to Target, etc.
Following items will be on the display according to the set specification.
		Function			Tool axial direction			Tool Center Point Control
								Tool Nose Center Manual Feed
					manual feed
								Table Coordinate Manual Feed
					MANUAL SHIFT AMOUNT (CURRENT)			Current Position
								(Table Coordinate)
		Items			MANUAL SHIFT AMOUNT (TOTAL)			Distance Remaining to Target
								(Table Coordinate)
					RELATIVE ACUTUAL (CURRENT)
					POSITION		-
					(TOOL AXIAL DIRECTION)

[Supplement]

1)The above items appear when any of the followings is activated: the tool center point control, tool axial direction manual feed, tool nose center manual feed, or table coordinate manual feed.

- 5 -

(4) Enlarged Display of Current Position

Press the ACT POSI ENLARGE function under the operation mode to show the pop-up functions below. Note that pop-up functions differ from the ones for the standard specifications with different optional specifications.

1) Standard specifications

Fig. 1-9 Function Menu for the Standard Specifications

2)For TOOL CENTER POINT CONTROL, TOOL NOSE CENTER MANUAL FEED, and TABLE COORDINATE MANUAL FEED

The [F2] (ACT.POSI (T BASE)) key appears for the function menu of the tool center point control, tool nose center manual feed, or table coordinate manual feed.

The [F2] (ACT.POSI (LOCAL)) and [F3] (ACT.POSI (ACTUAL)) keys appears in the extended function menu.

Fig. 1-10 Function Menus of Tool Center Point Control, Tool Nose Center Manual Feed, and Table Coordinate Manual Feed

3)For TOOL AXIAL DIRECTION MANUAL FEED

[F4] (RELATIVE TOOL DIR), [F5] (POSI SET TOOL REL), and [F6] (M-SHIFT TOOL DIR) appear in the extended menu respectively.

Fig. 1-11 Function Menus of Tool Axial Direction Manual Feed

4)For SLOPE MACHINING

The [F6] (SLOPE SHIFT) key appears in the function menu.

The [F1] (SHIFT ON/OFF) key appears in the extended function menu.

Fig. 1-12 Function Menus of Slope Machining

Function menu display differs with different combination of the functions above.

- 6 -

2-2. Display of Status Indicator Lamp

Fig. 1-13 Display of Status Indiactor Lamp

Status indicator lamps available are “CO. CONVET” (slope) for coordinate system is being converted, “3D FEED” (table coordinate manual feed, tool axial direction manual feed, and tool nose center manual feed) and “T.C.P.C” that indicates tool center point control is on.

						Manual Interrupt	Manual Interrupt
						OFF	ON
	AUTO,		NC reset status			Off	“CO. CONVET” or “3D FEED” ap-
	MDI					(Nothing on the display)	pears according to the setting of the
	operation		Program		During G69	CO. CONVET	angle and 3D FEED switches.
	mode		in pro-		and G469
			gress		During G169	T.C.P.C
					Others	Off
						(Nothing on the display)
	Manual operation mode					“CO. CONVET” or “3 D FEED” appears according to the setting of
						the angle and 3D D FEED switches.

Note that the status indicator display does not change with ON or OFF status of the pulse override in the AUTO or MDI operation mode.

- 7 -

SECTION 2 MANUAL FEED FUNCTION

1.Tool Axial Direction Manual Feed and Perpendicular to the Tool Axial Direction Manual Feed

1-1. Overview

This function is designed for machines with a rotary axis on the spindle side. The function enables manual rapid traverse, manual cutting feed, and manual pulse handle feed of X, Y, and Z-axes when Z-axis is the tool axial direction. This manual feed function is effective in the index attachments mounted in the double-column machining center, such as angular attachment, universal attachment, and swivel head.

(1)Example of a Machine with A-axis on the Spindle Side

The diagram below shows the relationship between A-axis angle and its feed direction. It is how it appears when you look at the negative direction (-) of the X-axis from the positive (+) direction of the X-axis. The positive (+) and negative (-) signs are the moving directions when Z-axis is selected for the tool axial direction manual feed. Moving direction changes with A-axis angle also when Y-axis (the direction perpendicular to the tool spindle) is selected for the tool axial direction manual feed. X-axis is not dependent on the A-axis angle and it is perpendicular to this document.

A-120°

Y

Z

A-90°

Y

Z

Z

XY

	Z
		Y

A+30°

A0°

Fig. 2-1 (Spindle side) A-axis Angle and Manual Feed Direction

The multiple rotary axes on the spindle side also move in the tool axial direction and the direction perpendicular to the tool axial direction according to their indexed angle.

- 8 -

1-2. Operation

(1)MANUAL Operation Mode

Turn on the 3D FEED switch, select the axis out of X, Y, or Z-axis with the MANUAL FEED AXIS SELECTION key on the machine panel or with the manual pulse handle axis selection switch, and move the axis in the tool axial direction or direction perpendicular to it.

*The 3D FEED switch is displayed as “3D” on the operation panel depending on models. Regard the description of 3D FEED below as 3D in that case.

(2)AUTO/MDI Operation Mode

- Pulse Handle Override

If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear. While this alarm is ON, it is still possible to manually feed the axis in the tool axial direction or in the direction perpendicular to it. However, note that “1336 Alarm-A The manual shift remains. Be warned axis move.” will be raised if G169 or G171 mode is ON.

- Manual Interrupt

Manual feed in the tool axial direction and the direction perpendicular to it are possible while manual interrupt mode is ON. However, if the shift amount (total) remains (≠0) when the manual interruption is turned off in G169/G171 mode, “1336 Alarm-A The manual shift remains. Be warned axis move” appears. Make sure to set the shift amount (total) to zero manually or with a sequence restart switch before you exit the manual interrupt mode. (For details, see “TOOL CENTER POINT CONTROL” and “TOOL AXIAL DIRECTION TOOL LENGTH COMPENSATION” in this manual)

[CAUTION]

If the machine has rotary axes on the spindle and table sides, the axial movement of X, Y, and Z-axes fed with the 3D FEED switch differs according to the NC optional parameter bit settings below. Turn the parameter bit OFF to enable the tool axial manual feed and perpendicular to the tool axial direction manual feed.

NC Optional Parameter Bit

No.	bit	Description

Specifies the coordinate system which will be selected when the three fundamental axes are

786 fed manually after the 3D FEED switch is turned on on the machine with a rotary axis on the spindle side and table side respectively.

Initial status

Selects the	Selects the
table base co-	tool axis
ordinate sys-	coordinate
tem.	system.

- 9 -

1-3. Screen Display

(1)ACTUAL (CURRENT) Position, APA, Shift amount, Traget position, and Distance remaining to the target at a Glance

Feed the page of the ACTUAL (CURRENT) POSITION screen under the operation screen to see the information on the following items:

-MANUAL SHIFT AMOUNT (CURRENT)

-MANUAL SHIFT AMOUNT (TOTAL)

-RELATIVE CURRENT POSITION (TOOL AXIAL DIRECTION)

MANUAL SHIFT AMOUNT (CURRENT) and MANUAL SHIFT AMOUNT (TOTAL) will be highlighted in blue when you turn the manual operation mode or manual interrupt ON and the feed in the tool axial direction and the direction perpendicular to it become valid.

When manual feed in the tool axial direction and the direction perpendicular to it are valid:

Fig. 2-2 When manual feed in the tool axial direction and the direction perpendicular to it are valid

- 10 -

(2)Enlarged Current Position Window

Following function keys will appear in the pop-up function opened by [F2] (ACT POSI ENLARGE) under the operation mode screen.

-TOOL DIRECTION RELATIVE ACTUAL (CURRENT) POSITION

-POSITION SET (TOOL)

-TOOL SHIFT ON/OFF

Tool Direction Relative Actual (Current) Position Function

Press the TOOL DIR. RELATIVE ACTUAL POS. function key to open the TOOL DIRECTION RELATIVE ACTUAL POSITION window. Meanwhile, [F5] (POSI SET TOOL REL).

Fig. 2-3 TOOL DIR. RELATIVE ACTUAL POS. Screen

The window shows the RELATIVE ACTUAL POSITION of the coordinate system whose Z-axis is the spindle axis. Set the zero point for this coordinate system in the POSITION SET window. Press the POSITION SET function key to open the window.

- 11 -

Position Set (Tool) Function

Press the [F5] (POSI SET TOOL REL) key to open the “POSITION SET” window.

Fig. 2-4 POSITION SET Window

When you start the manual interrupt, you can check the distance remaining to the target when you feed the axis in the tool axial direction by setting the relative current position of the tool axial direction zero in this window.

If the input data were recognized as numeric data, “Error 5343 Numerical data” will occur.

If the input data were out of the valid numeric data range, “Error 5209 Input data overflow” will occur.

Relative positions will be set for X, Y, and Z-axes when a value is given for ALL AXIS. Values used for the relative positions for the tool axial direction, the normal relative positions, and the current position of the slope relative position will not be shared.

- 12 -

Tool Shift ON/OFF Function

Press the function key to open the M.SHIFT TOOL DIR. CURRENT window. Turn the manual operation mode or manual interrupt ON. The title on top of the window turns yellow if the manual feed in the tool axial direction or the direction perpendicular to it is valid.

Fig. 2-5 M. SHIFT TOOL DIR. CURRENT Window

- 13 -

2. Table Coordinate Manual Feed

2-1. Overview

Table coordinate manual feed function is designed for machines with a rotary axis on the table side. The function enables manual rapid traverse, manual cutting feed, and manual pulse handle feed of X, Y, and Z-axes for the datum coordinate system of the tilted table or the rotary table.

This function is intended for the NC rotary axis (min. input increment: 0.001° or 0.0001°).

(1)Example of a Machine with C-axis on the Table Side

Following diagram shows the relationship between C-axis angle and its moving direction. It is how it appears when you look at the negative direction (-) of the Z-axis from the positive (+) direction of the Z-axis. Table Coordinate System rotates according to the C-axis’s indexed angle. In the example below, both X- and Y-axes move simultaneously if you attempt to move the X- or Y-axis of the table coordinate system. Z-axis is independent from the C-axis angle and it is perpendicular to this document.

			+
			X-axis
			OperationX		Work Coordinate-
				-	System
Table
Coordinate
System
			-	C
		Y-axis			Center of C-axis Rotary
	+
		Y Operation
Machine
Coordinate System

Fig. 2-6 Table Side C-axis Angle and Manual Feed Direction

For machines with multiple rotary axes on the table side, their axial movements are to be according to the table coordinate system determined by their indexed angles.

- 14 -

2-2. Operation

(1) MANUAL Operation Mode

Turn 3D FEED switch ON and select the desired axis out of X, Y, and Z-axis with the manual feed axis selection key on the machine operation panel or manual pulse handle axis selection switch. The selected axis will move based on the table coordinate system in manual rapid traverse, manual cutting feed, or manual pulse handle feed.

(2)AUTO/MDI Operation Mode

Table coordinate manual feed moves in the AUTO/MDI operation mode as follows.

- Pulse Handle Override

If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear. While this alarm is ON, it is still possible to feed the axes in table coordinate manual feed. However, note that “1336 Alarm-A The manual shift remains. Be warned axis move.” will be raised if G169 or G171 mode is ON.

- Manual Interrupt

Manual feed in the table coordinate is possible while manual interrupt mode is ON. However, if the shift amount remains (≠0) when the manual interruption is turned off in G169/G171 mode, “1336 Alarm-A The manual shift remains Be warned axis move” appears. Make sure to set the shift amount (total) to zero manually or with a sequence restart switch before you exit the manual interrupt mode. (For details, see “TOOL CENTER POINT CONTROL” and “TOOL AXIAL DIRECTION TOOL LENGTH COMPENSATION” in this manual.)

[CAUTION]

If the machine has rotary axes on the spindle and table sides, the axial movement of X, Y, and Z-axes fed with the 3D FEED switch differs according to the NC optional parameter bit settings below. Turn the parameter bit ON to enable the table coordinate manual feed.

NC Optional Parameter Bit

No.	bit		Description

Specifies the coordinate system which will be selected when the three fundamental axes are

786 fed manually after the 3D FEED switch is turned on on the machine with a rotary axis on the spindle side and table side respectively.

Initial status

Selects the	Selects the
table base co-	tool axis
ordinate sys-	coordinate
tem.	system.

- 15 -

3. Tool Nose Center Manaul Feed

3-1. Overview

Tool nose center manual feed function is designed for machines with rotary axes on the spindle and table sides. The function enables the spindle or table rotate around the tool nose center.

(1)Rotary axis on the spindle side

Spindle rotates around the tool nose center.

Fig. 2-7 Movement of the tool nose center manual feed (with the rotary axis on the spindle side)

(2)Rotary axis on the table side

Table rotates keeping the tool nose center position seen from the table (work). The tool appears tilting around tool nose center if you see the tool by reference to the table (work).

Fig. 2-8 Movement of the tool nose center manual feed (with the rotary axis on the table side)

3-2. Operation

(1) MANUAL Operation Mode

Turn 3D FEED switch ON and select the desired axis out of A, B, and C-axis with the manual feed axis selection key on the machine operation panel or manual pulse handle axis selection switch. The selected axis will rotate around on the tool nose center in manual rapid traverse, manual cutting feed, or manual pulse handle feed.

(2) AUTO/MDI Operation Mode

Tool nose center manual feed moves in the AUTO/MDI operation mode as follows.

- Pulse Handle Override

If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear. While this alarm is ON, manual pulse handle would not work.

- 16 -

- Manual Interrupt

Manual feed in the table coordinate is possible while manual interrupt mode is ON. However, if the shift amount remains (≠0) when the manual interruption is turned off in G169/G171 mode, the “1336 Alarm-A The manual shift remains. Be warned axis move” appears. Make sure to set the shift amount (total) to zero manually or with a sequence restart switch before you exit the manual interrupt mode. (For details, see “TOOL CENTER POINT CONTROL” and “TOOL AXIAL DIRECTION TOOL LENGTH COMPENSATION” in this manual.)

[CAUTION]

■Tool Length Compensation

If the machine has a rotary axis on the spindle side, the system finds the tool nose position based on the distance from the center of the rotation of the rotary axis to the spindle nose and the tool length compensation amount. The found point will be the center of the tool nose center feed movement. Therefore, make sure that proper tool compensation number is selected for the spindle tool even in the manual operation. Tool compensation numbers can be specified in the program command (H) in the AUTO or MDI operation. The number selected there will be kept even after the mode is switched to manual mode.

■Stroke End Limit

Linear axes are to move along with the rotary axis in the tool nose center manual feed. When a linear axis is about to reach the stroke end limit, it stops in the limit vicinity and the rotary axis movement also stops.

■Speed Limit

If rotary radius is large in the tool nose center manual feed, the linear axes travel distance becomes longer. If the rotary axis feedrate is high, the linear axis feedrate also becomes high. To avoid the linear axis feedrate to be too fast, the rotary axis feedrate limit is controlled based on the rotary radius and the linear axis feedrate limit. In some cases, the rotary axis feedrate limit determined here may be lower than the feedrate set by the command.

- 17 -

4. Other Optional Functions

4-1. I-MAP

By using the CAL key for the I-MAP PLAYBACK function, it is possible to acquire the actual position of the currently selected work coordinate system. With the machine having rotary axes on the table, the current position in the table coordinate system is acquired when manual axis feed in the table coordinate system is effective or the G169 mode is selected with the program command.

4-2. Manual Gauging

Note that axis feed will be tool axial direction manual feed/table coordinate manual feed/tool nose center manual feed if the 3D FEED switch is ON during manual gauging.

4-3. Interactive Gauging

If the +SINGLE, -SINGLE, or AUTO switch on the operation panel is ON, tool length gauging skip or work gauging skip will NOT depend on the 3D FEED switch ON/OFF status. Turn on the 3D FEED switch for manually moving the probe close to the work in the tool axial direction manual feed, table coordinate manual feed, or tool nose center manual feed.

4-4. Manual Angle/Circle Feed

3D FEED function is not supported for manual angle/circle feed.

- 18 -

5. Alarm List

5-1. Alarm A

1336 The manual shift remains. Be warned axis move.

The shift amount exists in G169 mode or G171 mode. [Character-string]

None [Code]

None

[Probable Faulty Locations] None

[Measures to Take]

1:Cancel the shift amount (total).

2:Change the alarm level to warning by setting data at the NC optional parameter (bit) No.78 bit4. [Related Specifications]

Tool center point control, Tool axial direction tool length compensation

5-2. Alarm D

4337Tool nose center man-feed func is invalid

Both 3D axis feed switch and pulse handle override were turned on in automatic or MDI operation. [Character-string]

None [Code]

None

[Probable Faulty Locations] None

[Measures to Take]

1: Turn off the 3D axis feed switch or pulse handle override. [Related Specifications]

Tool nose center manual feed

4338 The manual shift remains. Be warned axis move.

The shift amount exists in G169 mode or G171 mode. [Character-string]

None [Code]

None

[Probable Faulty Locations] None

[Measures to Take]

1: Cancel the shift amount (sum). [Related Specifications]

Tool nose control, tool length offset in tool axis direction

- 19 -

SECTION 3 TOOL CENTER POINT CONTROL

1. Overview

This function is applicable to the 5-axis machining center having three linear axes X, Y, and Z and two rotary axes. The function controls the movements of each axis by adding the tool length offset amount so that the tool center point moves along the workpiece through the tool path specified by the axis movement commands. It also controls the feedrate of each axis so that tool center point moves along the workpiece at the specified feedrate.

The rotary axis configuration of 5-axis machining center can be classified into the following three cases: the spindle has two rotary axes, the table has two rotary axes, and the spindle and the table have one rotary axis.

Spindle having	Table having two	One rotary axis each for spin-
two rotary axes
	rotary axes	dle and table

Fig. 3-1 Rotary axis configuration in relation with the tool center point control

The commands G00 (positioning), G01 (linear interpolation), and G02/G03 (circular interpolation) can be used in the tool center point control mode.

If the rotary axis command and the linear axis command are simultaneously specified to the rotary axis on the spindle side with G01 (linear interpolation), the machine behaves as follows.

When the X-axis and B-axis commands are specified simultaneously with G01

BB-axis movement

X X-axis movement

Command point

Fig. 3-2 Movement with the rotary axis on the spindle side

- 20 -

If the rotary axis command and the linear axis command are simultaneously specified to the rotary axis on the table side with G01 (linear interpolation), the machine behaves as follows.

When Y-axis and A-axis commands are specified simultaneously with G01

Command point

Y	The tool center point path viewed from table
Y-axis movement	(work) is linear.

AA-axis movement

Fig. 3-3 Movement with the rotary axis on the table side

1-1. Definition of the coordinate system for the table having a rotary axis

When the table side rotary axis is rotated, the work installed on the table will also rotate. But if the coordinate system fixed to the table is defined, the coordinate system for the table (work) does not move even if the table rotates. Such a coordinate system is called “Table-based coordinate system.” This coordinate system is based on the work coordinate system for the table located in “0°” position (0° in the machine coordinate system). In the tool center point control, program commands are issued to this table-based coordinate system.

Work

Work coordinate system

Table-based coordinate system

Work coordinate system

	Original state	The coordinate system rotates as the table rotes.
		=> Table-based coordinate system
		Fig. 3-4 Table-based coodinate system

For the machine with a spindle having two rotary axes, the table based coordinate system is the same with the work coordinate system because the table does not rotate.

- 21 -

2. Program Commands

2-1. Command Format

G169	P_H_..................................	Tool center point control mode ON
:	P_
G170	P_ .....................................	Tool center point control mode OFF

P:Position Commands (for X, Y, Z, A, B, and C)

The A, B, and C commands are used to specify the inclination of the tool with regard to the work in the position (end of block) specified with X, Y, Z command. Specify the rotary axis provided for the machine among A, B, and C. Then, specify the angle of currently selected work coordinate system.

The X, Y, and Z commands are used to specify the tool nose position in the currently selected work coordinate system (table-based coordinate system for the rotary axis on the

table). If the rotary axis is on the spindle, the machine controls the axes so that the inclined tool nose position is equal to the specified position.

H: Tool length offset number (1 to the number of offset data sets)

The feed mode when the G169 command is specified shall be G00 or G01. Axis feed mode in the G169 block is the feed mode specified when the G169 command is specified. Axis in this block is also fed under the tool center point control.

In G169 mode, the machine interpolates the rotary axis movement, and controls the linear axis movement so that the tool nose path seen from the work match the path in the specified feed mode and that the feedrate of the tool center point with regard to the work is equal to the specified feedrate.

-The position commands are omissible.

-If the tool length offset number is omitted, the currently selected tool length offset number will be automatically adopted.

-If a position command and a tool length offset number are specified in the G169 block, the tool nose will be positioned in a position which the tool length offset value is added by the feed mode selected at that time (G00 or G01). An alarm occurs if the feed mode is not G00 or G01.

-The tool length offset number will not be cleared by NC reset.

-The tool length offset number will be backed up when the power gets shut off. The backed up number will be automatically selected when the power is supplied again.

-If the G169 command is specified when the tool length offset number is 0 (H0), an alarm will result.

-HA, HB, and HC are treated as an H command.

-If the work zero number is “0” (work coordinate system = machine coordinate system), the machine controls the axis on an assumption that there is a table coordinate system in the position where the machine coordinate system is rotated by the angle of the table rotary axis.

-G169 command can be specified in G91 (incremental command) mode. However, immediately after specifying G169, specify the axis movement command to all the axes in G90 (absolute command) mode.

Notes

Immediately after specifying the G169 command, specify the axis movement command to all the axes (five axes) simultaneously in the G90 (absolute command) mode in order to establish the position in the work (-based) coordinate system.

- 22 -