yaskawa J300M, J100M Programming Manual

iTIVi'i

CNC

YASNAC

PROGRAMMING

Upon

instructions

REFERENCE

YASNAC YASNAC

SYSTEM

J300M/J100M

receipt

J300M/J100M

J300M

of

the

thoroughly,

LARGE-SIZE

FOR

OPERATING

MACHINING

product

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retain

PROGRAM

prior

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MANUAL

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CENTERS

MANUAL

to

initial

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MANUAL

operation,

TOE-C844-2.1 TOE-C844-2.1-1

read

these

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YASKAWA

MANUAL

NO.

TOE-C844-2.2

Safety

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mechanical,

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CONTENTS

Safety

Visual

About

1

1.1

1.2

Information

Aids

this

Manual

Manuals

SAFE

FOR

PROGRAMMING

FUNDAMENTALS

1.1.1

1.1.2

1.1.3

1.1.4

1.1.5

1.1.6

1.1.7

1.2.1

1.2.2

1.2.3

1.2.4

1

BASICS

.2.5 .2.6

Numerically

Controllable

Least

Maximum

Tape

Program

Optional

Buffer

Rapid

Cutting

-Digit

F1

Feed

Solid

Automatic

OPERATION

Controlled

Axes

Input

Increment

Programmable

Format

Block

Register

FEED

OF

Traverse

(F

Feed

per

Minute

Tap

Mode

Acceleration

BASICS

OF

PROGRAMMING

Axes

and

Skip

(/1),(/2

and

Multi-active

FUNCTION

Command)

*

Function

(G93,

G94)

and

Least

Values

to

(G94)

*

and

Deceleration

the

Output

for

*

/9)

Register

Number

Increment

Movement

Axis

TERMINOLOGY

Simultaneously

of

iii

iv

viii

x

1

-2

1

-2

1

-7

-9

1

10

1

-

1

-13

1

-24

-25

1

-26

1

-26

-27

1

-31

1

-32

1

-33

1

-34

2

COMMANDS

INTERPOLATION

2.1

2.1.1

2.1.2

2.1.3

2.1.4

2.2

2.2.1

2.2.2

2.2.3

2.2.4

Positioning Linear

Circular

Helical

REFERENCE

Automatic

Reference

Return

Second

CALLING

(GOO,

Interpolation

POINT

Return

Point

from

Reference

to

Fourth

AXIS

COMMANDS

G06,

G60)

....

(G01)

(G02,

G03)

.

(G02,

G03)"

.

RETURN

Check

Point

(G27)

Return

Point

to

Reference

Point

Reference

MOVEMENTS

(G28)

(G29)

....

(G30)

Return

2-2

2-5

2-7

2

-

2-16

2-22

2-24

2-28

14

v

MOVEMENT

3

CONTROL

COMMANDS

SETTING

3.1

3.1.1

3.1.2

3.1.3

3.1.4

3.1.5

3.1.6

3.1.7

3.2

3.2.1

3.2.2

3.2.3

3.3

3.3.1

3.3.2

3.3.3

3.4

3.4.1

3.4.2

3.4.3

3.4.4

3.4.5

Selecting

Base

Workpiece

Local

Machine

Rotation

Plane

DETERMINING

Absolute/Incremental

Scaling

TIME-CONTROLLING

TOOL

Tool Tool

3-Dimensional

THE

Coordinate

of

Selection

Inch/Metric

(G50.G51)*

(G04)

Dwell

Stop

Exact

Stop

Exact

OFFSET

Offset

Length

Position Radius

COORDINATE

Coordinate

the

System

Coordinate

THE

Input

System

(G17.G18.G19)

COORDINATE

Designation

COMMANDS

(G09)

,

(G61

Mode

FUNCTIONS

Memory

Data

(G43,

Offset

(G45toG48)

Offset

C

Offset

Tool

Function

Offset

System

(G92)

(G52

G64)

G44,

Function

SYSTEM

(G54

Q2)*

(G53)

(G68,

(G90,

(G20,

G49)

(G40,

G59)*

to

G69)*

G21)

G41

(G40,

.

VALUE

G91)

...

*

,

G42)

G41,

G42)*

INPUT

MODES

—

....

3-3

3-3 3-5

3-14

3-15

3-18 3-21

3-22

3-22 3-24

3-26

3-31

3-32

3-33

3-33 3-34 3-38 3-48

3-90

3.5

3.5.1

3.5.2

3.5.3

3.5.4

T,

M,

S,

Spindle

Tool Miscellaneous

Second

B

AND

Function

Miscellaneous

FUNCTIONS

(S

Function)

(T

Function)

Function

(M

Function

vi

Function)

(B

3-98

3-98 3-99

*

3-100

3-102

ENHANCED

4

PROGRAM

4.1

4.1.1

4.1.2

4.1.3

4.1.4

4.1.5

4.1.6

4.1.7

4.1.8

4.1.9

.

4.

0

1

PROGRAM

4.2

4.2.1

4.2.2

4.2.3

4.2.4

4.2.5

4.2.6

4.2.7

4.2.8

LEVEL

SUPPORT

Canned

Hole

Solid

Deep-hole

Circle

Mirror

Programmable

Subprogram

Polar

Cylindrical

Program

Automatic

Stored

Comment

Break

High-speed

Chamfering

Corner

Cycles

Machining

Tap

Function

Solid

Cutting

Image

Coordinate

Interpolation

SUPPORT

Copy

Corner

Stroke

Output

Point

Feedrate

(G73

Pattern

Tap

(G12,

ON/OFF

Data

Up

Call

Interpolation

(G25)*

Override

Limit

Function

Cutting

Corner

and

Designation

COMMANDS

FUNCTIONS

G89,

to

(G84,

Function

G13)

Input

Function

and

B

*

G181

to

(G70,

Cycles

*

G74)

(G184,

*

M95)

(M94,

*

(G10)

(M98,

(G126,

28,

(G

1

29)*

G

1

FUNCTIONS

*

(G106)

(G22,

C

(M191

Rounding

G23)

*

)

Commands*

(G107,

(1)

G189)

G71

G174)*

M99)

G127)*

(2)

*

G108)*

,

G72)

*

...

.

4-3

.

..

*

4-3

4-34

4-39

4-50

4-64

4-70

4-76

4-79

4-81

4-91

4-101

4-101 4-104

4-109

4-115

4-116

4-121

4-126

AUTOMATING

4.3

4.3.1

4.3.2

4.3.3

MACROPROGRAMS

4.4

4.4.1

4.4.2

4.4.3

4.4.4

4.4.5

4.4.6

4.4.7

4.4.8

4.4.9

Appendix

APPENDIX

Appendix

Skip

Function

Life

1

1.1

2

Interrupt

Control

from

Instructions

the

Data

of

CODE

G

CODE

INDEX

Program

Tool

Differences

Macroprogram

Variables

Operation

Control

Registering

RS-232C

Macroprogram

Examples

SUPPORT

*

(G31)

Function

Subprograms

Call

Macroprogram

Output

Alarm

Macroprograms

(G65,

(BPRNT,

2

Numbers

*

G66,

TABLE

FUNCTIONS

(M90,

G67)

..

DPRNT)

*

M91)

.

4-138

.

4-141

4-144

4-154

4-156

4-169

4-201

4-203

4-209

4-210

4-214

4-215

-2

A1

vii

About

this

Manual

This

J300M/J100M

Some

information

formation.

detailed

a

YASNAC

The

Use

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code

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YASNAC

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S1E-C844-0.

S1E-C843-I3.2

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CAUTIONS

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xii

1

PROGRAMMING

Chapter

and

1.1

1

the

describes

feed

functions.

the

basic

FUNDAMENTALS

TERMINOLOGY

1.1.1

.1

.2

1

1.1.3

1.1.4

1.1.5

1.1.6

Numerically

Simultaneously

of

Least

Increment

Maximum

Movement

Tape

Program

Optional

Controlled

Input

Increment

Programmable

Format

Block

terms

OF

PROGRAMMING

Axes

Controllable

and

Least

Values

),

(/1

(/2to/9)

Skip

BASICS

used

and

programming

in

the

Number

Axes

Output

for

Axis

*

1

-2

1

-7

1

-9

1

10

-

1

-13

1

-24

.2

1

1.1.7

Buffer

BASICS

1.2.1

1.2.2

1.2.3

.2.4

1

.2.5

1

1.2.6

Rapid

Cutting

F1

Feed

Solid

Automatic

1

OF

-Digit

-1

Register

FEED

Traverse

Feed

Feed*

per

Minute

Tap

Mode

Acceleration

and

Multi-active

FUNCTION

Command)

(F

Function

(G93,

G94)

and

Register

(G94)

*

..

Deceleration

...

..

1

.

1-25

-26

1

-27

1

-31

1

-32

1

-33

1

1-34

OF

.1

1

FUNDAMENTALS

PROGRAMMING

TERMINOLOGY

1

basic

section

This

.1

1

Numerically

.1

describes

Controlled

the

Axes

and

terms

the

used

in

Number

programming.

of

Simultaneously

Controllable

Axes

Names

Axes

Numerically

(1)

The

Table

Controlled

Basic

and

5th

4th

(2)

Number

numerically

1.1

Axis Axis

axes

Simultaneously

of

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controlled

Numerically

Name

Y.Z

X.

A.

B.C

or

W

V.

U.

and

Axes

axes

and

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Represents

indicated

Represents

motion,

ear)

motion,

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by

X.

the

address

names

axis

coordinate

Y,

Z.

and

commands

characters

Axes

are

indicated

Description

position

or

fourth

of

the

and

B.

A.

V.

U.

distance

and

C

are

used

W

and

in

fifth

are

in

and

Table

along

or

axes.

for

used.

1.1.

an

For

rotary

parallel

axis

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With

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(a)

Table

Linear

Circular

'Circle

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the

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number

1.2

Positioning

interpolation

cutting

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specification,

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be

simultaneously

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simultaneously

of

Number

The

Control

(GOO)

(G01

G03)

(G02,

GI3)

(G12,

G03)

(G02,

optionally

Function

)

to

up

controllable

Simultaneously

of

(X-.

axes

3

(X-.

axes

3

(X-

axes

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Rapid

Setting

cutting

of

a

used

is

traverse

parameters.

point

override

indicates

Fo

traverse

units

the

feed

positioning

for

mode,

rate

different

at

rate

rapid

of

function

tool.

axis

each

determined

is

Since

time.

function

fixed

a

is

set

in

traverse

that

(GOO)

moves

by

axes

the

Therefore,

adjust

can

feedrate

following

the

rate

specifies

manual

and

the

at

the

machine

move

the

for

set

units

mm/min

1

0.1

deg./min

1

feedrate

(distance

rapid

traverse

rapid

builder

tool

independently

resultant

the

traverse

rapid

set

parameter

the

for

inch/min

traverse

rate

set

and

of

paths

tool

rate

pm2447.

individual

minute,

per

(RAPID)

for

the

for

set

other,

each

are

to

Fo,

axes.

distance

operation.

individual

the

individ¬

the

straight

not

a

25%,

axes

50%,

2.

upper

The

propriate published

limit

value

by

of

is

the

rapid

conforming

set

machine

traverse

builderforthe

tool

to

rate

the

240,000

is

machine

rapid

mm/min.

capability,

traverse

refer

rate

Since

of

the the

to

your

ap¬

most

manuals

machine.

-26

1

.2

BASICS

OF

FEED

FUNCTION

1

Input

Microns

Sub

Microns

Sub

Sub-microns

Inches

.2.2

System

Cutting

Feed

feedrateatwhich

The

or

circular

Table

Normal

Format Format

60

F

51

F

42

F

41

F

Command)

(F

a

interpolation

•

With

cutting

The

the

6-digit

a

tool

feedrate

setting

indicated

Programmable

.30

1

(pm2004

Mode

Programmable

(Feed

1.0-F

240000

F

0.1-F24000.0

F

2400.00

0.0

1-F

F

F0.1-F

9448.8

cutting

(G02,

can

specified

for

Table

in

D0=0)

per

Minute)

tool

G03)

numeral

be

designated

parameter

1

.30.

Range

mm/min

inch/min

should

mode

specified

using

pm2004

Range

moved

be

is

designated

in

the

following

in

unitsof“mm/min”.

can

code

an

F

DO.

The

Code

of

F

F-command

61

F

52

F

43

F

42

F

linear

interpolation

using

address

be

character

multiplied

programmable

1/10

Function

Programmable

(Feed

F0.1-F

0.0

1-F

F

0.00

1-F

F

F0.01-F

character

by

1/10

feedrate

(pm2004

per

Minute)

240000.0

24000.00

2400.000

9448.81

(G01)

F,

feedrate

by

Range

mm/min

mode

F.

changing

range

D0=1)

of

1

a

is

-27

1

•

The

servo

limit limit

upper

system

is

set

value

of

limit

and

for

parameter

is

specified,

feedrates

the

mechanical

(pm2800)

the

indicated

feedrate

in

system.

and

if

is

clamped

Table

In

feedrate

a

.30

couldberestricted

1

case,

this

at

the

command

allowable

set

allowable

exceeding

upper

the

by

upper

this

limit.

1

Fig.

An

•

or

direction.

Example

With

1

G9 G01

F

=

(mm/min)

1.9

command

F

circular

the

in

Programming

of

following

the

(incremental

Y30.

X40.

500

/3002

=

Command

F

specified

in

interpolation

program:

programming)

F500;

4002

+

4_

Y-axis

X-axis

Simultaneous

in

the

simultaneous

mode

component

+Y

2-axis

represents

Tangential

500

400

+X

2-axis

Control

linear

the

feedrate

velocity

mm/min

interpolation

in

S

mm/min

300

Linear

mode

the

tangential

o

Interpolation

Fig.

Example

With

G91

G03

F

=

(mm/min)

1.10

Programming

of

following

the

(incremental

•Y•••

X

200

jFx2

=

Command

F

Interpolation

program:

programming)

•

F200;

I

Fy2

+

the

in

1-28

Center

r

+Y

Simultaneous

\

+X

\

2-axis

mm/min

200

\

Fx

Control

py

i

Circular

In

•

cates

Example

the

simultaneous

tangential

the

Programming

of

3-axis

feedrate.

control

linear

.2

1

BASICS

interpolation,

+Y

an

OF

F

FEED

FUNCTION

command

indi¬

Fig.

With

G01

F

=

(mm/rnin)

.11

1

In

•

cates

In

•

cates

following

the

•••Y• •

X

400

=

/Fx2

Command

F

simultaneous

the

tangential

F

the

simultaneous

the

tangential

F

program:

•Z•

Fy2

+

(mm/min)

• •

F400;

+z

3-axis

linear

Fz2

+

f

Control

interpolation,

Fa2

+

Fz2

+

in

Simultaneous

control*

4-axis

feedrate.

/FX2_-Tl2y2~Tl2z2~Tlÿ

=

control*

5-axis

feedrate.

Fy2

=

+

/Fx2

Start

+

point

Linear

F02

~A

End

_poinO/

I

]

y

Interpolation

an

F

command

an

F

command

1

400

mm/min

+X

—

indi¬

-29

1

3UPPLe/"\

f

(MENT

1.

The

F-command

-digit

FI

command.

1/10

function

does

not

influence

the

feedrate

called

by

an

1

After

2.

valid

During

3.

drate

4.

The

mand

an

When

5.

variables

ric

for

When

6.

variables

program

input,

“#9=123.4”.

If

7.

For

8.

fied

changing

when

solid

called

feedrate

1/10

command.

F

the

input, example,

the

is

“F0”

command,

an

F

an

for

the

NC

the

tapping,

F

by

an

specified

function.

F-command

for

used

if

least

the

becomes

it

E

F-command

F

and

of

E

requires

entry

command

specified,

command,

F

setting

is

and

for

reset.

the

F-command

command.

by

an

E

command

The

1/10

commands

F

increment

0.

mm/min

1

1/10

commands

a

of

“G65

of

“0370”

alarm

minus

a

value

correct

parameter

code

in

function

the

of

function

and

the

decimal

PI

occurs.

must

operation

pm2004

1/10

canned

a

format

used,

is

made

is

command

F

when

used,

is

arguments

fraction

234”,

FI

not

function

cycle

of

E

an

the

one

F-command

the

designation

increased

for

be

specified.

cannot

DO,

the

new

not

does

is

influenced

commandisthe

place

variable

1/10

of

used

one

by

unit

the

for

minimum

decimal

system

(E,

F)

example,

minus

a

If

guaranteed.

be

setting

influence

smaller.

functionisused.

digit.

is

becomes

by

the

same

of

the

mm/min,

is

1

macro

calling

a

In

expressed

value

is

the

F-com-

as

system

met¬

In

system

macro

metric

speci¬

fee¬

with

as

-30

1

.2

1

BASICS

OF

FEED

FUNCTION

1.2.3

F1

-Digit

is

It

F.

numeral

should

Feed*

possible

With

be

Table

Command

F

FI

F2

F3

F4

F5

F6

F7

F8

F9

Note:

to

manner

this

is

selected.

set

1.31

Value

selectafeedrate

designation

of

feedrate

The

the

for

parameters

Parameter

=0.1

l

mm/min.

or

0.01

by

specifying

of

an

be

to

indicated

Numbers

Parameter

inch/min

command,

F

selected

Table

in

Used

Numbers

pm0820

pm082

pm0822

pm0823

pm0824

pm0825

pm0826

pm0827

pm0828

a

1

-digit

l

in

for

numeral

the

feedrate

response

1

.

.31

Presetting

to

the

F1

(1to9)

preset

designation

-digit

following

for

the

of

Feedrates

address

specified

F9

to

FI

I

using

When

the

ing

manual

increments

1.32.

Table

Command

F

FI

F2

F3

F4

F5

F6

F7

F8

F9

Note:

the

per

1.32

Value

-digit

FI

pulse

Parameter

0.1

“1"

=

feed

generator

(FI

-digit

mm/min

function,

while

multiply)

Numbers

per

pulse

it

possibletooptimize

is

Fl-DIGIT

the

should

be

Used

Parameter

Numbers

pm21

pm2!

pm21 pm21

pm21

pm2

1

pm2ll7

pm21

pm2l

11 12

13

14

13

1

18

19

6

for

switch

set

for

Setting

the

ON.

is

the

parameters

F1

selected

Increase

-digit

feedrate

or

indicated

Multiply

by

turn¬

decrease

Table

in

of

-31

1

If

increase/decrease

rameters

in

Table

increments

.31

is

1

updated

per

in

pulse

is

response

set

to

for

these

the

parameters,

manual

pulse

the

value

generator

the

for

set

operation.

pa¬

1

Parameters

feedrate

pm2800

[SUPPLE/'~ÿk

IMENT

Vy

selection.

is

Table

Parameter

pm2865

pm2866

When

1.

pm2004

chine

2.

If

When

3.

drate

indicated

set,

is

it

1

.33

Number

the

moves

pm2004

is

“F0”

the

set

for

Table

in

value

a

If

disregarded

Parameters

=

in

=

the

0,

feedrate

units

0

I

RUN

dry

numerals

1-digit

DO

specified,

DRY

.33

are

1

larger

and

pm2865

Allowable

on

0.1to0.9

of

Feedrate minorF4.1

Feedrate

F4.2

or

min

“0370”

alarm

switch

run

operation.

used

the

than

replaced

are

set

screen

the

deceleration

at

inch/min.

the

deceleration

at

inch/min.

ON,

is

the

set

to

allowable

with

pm2866

and

Description

maximum

the

to

is

mm/min

occurs.

feed

limitsofthe

upper

maximum

the

value

feedrate feedrate

parameters

displayed

or

0.01to0.09

0.001

of

commands

0.001

mm

set

for

FI

for

F5

pm0802

as

or

are

feedrate

pm2800.

for

to

F4

F9

to

“0”.

inch/min.

0.0001

executed

all

feedrate

for

set

to

pm0828,

However,

inch

F6.0

is

F6.1

inch

is

at

-digit

for

FI

parameter

and

the

ma¬

mm/

fee¬

the

1

.2.4

Feed

The

4.

command.

5.

The

OFF.

6.

is

It

ro

With

7.

allowable

per

Minute

G94

When

(inch)/min”.

feed

override

feedrate

possible

program.

inch

the

maximum

Function

designated,

is

functionisinvalid

for

set

to

the

designate

specification,

feedrates

(G94)

feedrate

a

1

parameter

Fl-digit

an

feedrates

can

specified

-32

for

is

retained

command

are

set

only

be

set

following

feedrate

the

memory

in

by

specifying

units

in

unitsofmm/min.

in

addressFis

selected

if

inch/min.

of

by

power

the

variable

a

executed

Fl-digit

the

is

turned

a

in

However,

units

in

mac¬

the

of

“mm

.2

1

BASICS

OF

FEED

FUNCTION

1

.2.5

Solid

Tap

following

The

function.

tap

G

Code

G93 G94

G93

and

G94

the

(1)

Solid

In

G84orG74.

tap

Mode

Table

G94

mode

the

mode,

(G93,

G

codes

.34

1

are

modal

automatically

is

Tap

Mode

G93

solid

only

used

Tap

Solid

Soild

G

*

to

Mode

lap

tap

codes.

set.

indicate

Function

mode

G94)

are

Solid

(G93)

mode,

tapping

solid

is

tap

Axis

feediscontrolledinthe

solid

G

Codes

cancel

When

tapping

allowed

that

the

tapping

power

is

executed

"feed

no

and

should

is

turned

per

other

be

executed

ON

or

the

for

tapping

revolution”

operation

Group

05

when

mode.

is

possible.

by

using

the

cycles

NC

In

the

reset,

is

called

the

solid

I

by

solid

(2)

Solid

When

mode,

tap

“feed

Tap

Mode

executed,

G94

is

conventional

per

minute”

Cancel

the

mode.

type

(G94)

solid

tapping

modeiscanceled.

tap

is

executedinwhich

After

the

axis

cancelation

feed

is

controlled

of

the

solid

in

the

1

-33

1

.2.6

Automatic

Acceleration

and

Deceleration

1

Automatic

operation,

(1)

acceleration/deceleration

respectively.

Acceleration

and

eration

handle

Rapid

for

set

Parameters

.35

(GOO),

For

positioning

manual

and

is

applied.

verse

are

Table

1

tion/Deceleration

Rapid

iraverse

Acceleration/deceleration

rate

V

f

Feedrate

Deceleration

manual

(HANDLE),

feed

traverse

following

time

constant

GOO

control

rapid

and

rate

parameters.

Used

Time

X-axis

pm2801

pm2461

is

provided

Rapid

for

traverse

linear

acceleration/deceleration

Setting

for

(RAPID),

pattern

for

Traverse

automatic

Rapid

rapid

and

manual

Traverse

Constant

Y-axis

pm2802

pm2462

Z-axis

pm2803 pra2463

traverse

Manual

acceleration/deceleration

time

and

Axis

continuous

constant

Rate

and

4th-axis

pm2804

pm2464

cutting

Feed

(JOG),

feed

for

rapid

Accelera¬

5th-axis

pm2805 pm2465

feed

Op¬

tra¬

Fig.

t

Time

Linear

Automatic

.12

1

Acceleration/Deceleration

-34

1

in

Pattern

.2

1

BASICS

OF

FEED

FUNCTION

Acceleration

(2)

For

the

pattern,

shock

parameters.

Table

t

Feedrate

Deceleration

and

positioning

operation

(GOO

acceleration/deceleration

is

ry

possible

S-curve

The

Pattern

rapid

For

rapid

For

rapid

For

rapid

For

positioning

the

to

1.36

Parameter

pm2591 pm2592

pm2593

pm2594 pm2595

V

machine.

S-curve

in

mode

pattern

high

a

at

Defining

traverse

S-curve

positioning),

instead

Pattern

of

the

S-curve

linear

acceleration/deceleration

pattern

for

rapid

traverse

Parameters

Description

X-axis

of

Y-axis

of

Z-axis

4th-axis

of

the

of

5th-axis

Acceleration/deceleration

\

*

pattern.

is

(for

pattern

Rapid

can

be

By

using

rate

without

definedbythe

Traverse)

Setting

Range

to

20

0

0to20

Oto

20

Oto

20

Oto

linear

in

S-curve

in

selected

S-curve

the

applying

following

pattern

for

1

Fig.

I

1.13

f

/

Acceleration/Deceleration

Time

S-curve

in

t

Pattern

1-35

For

the

vidual

S-curve

axes

and

pattern

setting

acceleration/deceleration,

is

possible

in

the

range

time

from

constant

20.

to

0

is

provided

for

the

indi¬

1

Table

Setting

Greater

(3)

Acceleration

cutting

For

tion/deceleration

1.37

to

1

Less

Feedrate

Value

0

20

then

than

feed

Time

(N)

0

20

and

Deceleration

(G01

in

v

t

Constant

for

S-curve

Feedrateiscontrolledinthe the

linear

pattern.

S-curve

The

(Maximum

Regarded Regarded

as as

for

mode),

G03

to

the

exponential

Control

Explanation

same

the

time

msec)

60

Feed

pattern

time

constant:

“0”.

“20".

Cutting

Pattern

having

feedrateiscontrolled

pattern.

as

acceleration/deceleration

“4

by

of

the

automatic

x

constant

N”

is

obtained.

accelera¬

in

Fig.

1.14

Acceleration/Deceleration

1-36

Time

Exponential

in

t

Pattern

Time time

constant

for

and

cutting

feedrate

feed

bias

and

can

feedrate

be

set

independently.

bias

are

set

.2

1

BASICS

for

parameters.

OF

FEED

For

FUNCTION

tapping,

SUPPLE

MENT

Table

Feedrate Feedrate

Tapping

For

the

parameters

machines.

.38

1

time

bias time feedrate

Do

Parameters

constant

bias

indicated

not

attempt

for

above,

change

to

Tapping

X-axis

pm2501 pm2821

pm251

1

pm2831

the

Y-axis

pm2502

pm2822

pm2512 pm2832

most

setting

optimum

unless

Z-axis

pm2503 pm2823

pm2513

pm2833

values

necessary.

are

4th-axis

pni2504

pm2824

pm2514 pm2834

for

set

5th-axis

I

pm2505 pm2825

pm2515 ptn2835

respective

1

-37

2

COMMANDS

Chapter

erence

2.1

2.2

describes

2

point

return

interpolation

the

commands.

INTERPOLATION

2.1.1

2.1.2

2.1.3

2.1.4

Positioning

Linear

Circular

Helical

REFERENCE

2.2.1

Automatic

(G28)

(GOO,

Interpolation

POINT

Return

CALLING

AXIS

MOVEMENTS

commands

COMMANDS

G06,

G60)

(G01)

(G02,

G03)

(G02,

G03)*

RETURN

to

Reference

Point

and

the

2-2

2-14

2-16

1

ref¬

2-2

2-5

2-7

2.2.2

2.2.3

2.2.4

Reference

Return

(G29)

Second

(G30)

2-1

from

to

Point

Fourth

Return

Reference

Check

Point

(G27)

Return

Point

2-22

2-24

Return

2-28

2.1

INTERPOLATION

COMMANDS

1

2.1.1

section

This

the

trol

Positioning

the

In

workpiece

move

calling

For

Table

describes

tool

path

(GOO,

absolute

coordinate

by

the

specified

the

2.1

G

Code

GOO

G06

G60

the

positioning

along

the

specified

G06,

programming

G60)

system,

distance

positioning,

Codes

G

Positioning

Unidirectional

mode

andinthe

from

following

the

for

in in

commands

functions

(G90),

incremental

present

the

G

Positioning

Function

detect

error

the

error

the

positioning

detect

such

axes

the

codes

ON OFF

and

the

straight

as

are

programming

position

can

be

mode

interpolation

line

and

movedtothe

rapid

traverse

a

at

used.

commands

arc.

specified

(G9

mode

rate.

),

1

Group

01

that

point

the

con¬

a

in

axes

2-2

Positioning

(1)

When

detect

ber

has

In

(*5-axis)

tioning

verse

differ

the

Example

in

“GOO

X

mode,

ON”

lag

pulses

of

reducedtothe

mode,

GOO

the

control

operation,

rate

that

depending

manuals

published

Programming

of

Error

the

•

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which

in

due

to

permissible

positioning

mode.

the

individual

is

for

set

on

the

Detect

Z

the

servo

lag

is

axes

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each

axis.

machine.

by

the

ON

•

••

is

program

are

checked

value.

made

designated

not

axes

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machine

(GOO)

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designated,

advancestothe

after

rapid

traverse

a

at

in

move

independently

traverse

rapid

the

tool

Y-axis

rapid

builder.

traverse

2.1

INTERPOLATION

positioning

the

completion

in

rate

GOO

the

block

of

set

rates

is

executedinthe

only

of

pulse

the

simultaneous

do

not

each

other

for

the

individual

your

machine,

of

COMMANDS

when

the

distribution

3-axis

move.

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a

at

rapid

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“error

num¬

posi¬

tra¬

axes

to

E

\I/

\

POINT

X40.

2.1

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axes

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positioning

independently,

programmed

be

must

fixture

or

mode,

during

Simultaneous

in

since

the

tool

paths

carefully

positioning.

40

/

axes

so

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move

are

that

not

a

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a

at

rapid

always

cutting

40.

traverse

straight

a

tool

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X-axis:

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Mode

will

traverse

8

4

rate

line.

not

rate

m/min

for

set

Therefore,

interfere

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the

with

GOO

Fig.

/

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the

individual

positioning

a

workpiece

Z40.;

2-3

Positioning

(2)

in

the

Error

Detect

OFF

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1

When“G06X

the

in

block.

the

In

of

pulse

Unidirectional

(3)

With

madetothe

positioning

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specified

G60

the

individual

execute

to

detect

“error

mode,

G06

distribution.

commands

the

designated

end

block.

axes

accurate

a

point

Start

• • •Y•••

OFF”

program

The

Positioning

of

made

once

overtravel

The

(X-axis

in

is

point

positioning.

•

• •

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mode.

advances

tool

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position.

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5th-axis).

to

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•

(*a

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to

at

paths

*

•••Y•••Z••

set

return

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•

command

G06

the

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by

parameter

be

to

for

is

set

unidirectional

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distance

specified,

is

immediately

block

are

therefore

•

(*

a

pm4014,

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parameters

set

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'r

positioning

only

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rounded.

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the

end

at

pm446

positioning

parameter

for

the

in

after

•

axes

point

to

1

the

movement

overtravel

specified

pm4465

mode

o

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executed

is

designated

completion

the

for

the

provided

is

point

is

in

Fig.

2.2

Unidirectional

2-4

point

End

Positioning

(G60)

2.1

INTERPOLATION

COMMANDS

2.1.2

Linear

With

tion

in

commands

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the

commands

executedinthe

is

GOI

the

(1)

block

must

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execute

(a)

Feedrate

(tangential

ignated

(G01

of

do

be

specified.

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the

linear

is

axes

(mm/min)

F

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feedrate

)

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simultaneous

move.

not

interpolation,

designated

velocity

in

willbethe

=

/Fx2

the

in

3-axis

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by

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an

reference

specified

Fy2

+

X-axis

(*5-axis)

execution

the

commands

The

code.

the

tool

to

feedrate.

Fz2

+

direction)

control

of

moving

(

+

the

indicated

axes

Fa2

mode.

linear

are

controlled

direction)

F|}J

+

linear

-

axes

The

interpolation,

below

must

so

that

feedrate

of

)

interpola¬

not

designated

the

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be

specified.

vector

of

the

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sum

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SUPPLE/-ÿ

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MENT

I

no

If

execution

Table

Output

Metric

Output

Inch

Note:

code

F

the

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sic

three

indicated

as

2.2

the

If

is

GOI

of

a

optional

axes

F

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Inch

Metric

Inch

and

4th-

designated

block

4th-

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Y-,

Table

in

Feedrates

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input

are

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in

causes

and

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and

2.2.

of

linear

the

alarm

Z-axis)

Basic

F60

F4I

F60

F51

axes,

block

containing

“0370”.

are

rotary

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the

feedratesofthese

GOI

(A-,

axes

optional

the

Axes

FeedrateofBasic

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0.1

and

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1

inch/min

mm/min

1

inch/min

axes

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are

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or

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in

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F

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as

the

feedratesofbasic

feedrates

are

(F

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Unit

Feedrate

1

2.54

0.3937

1

blocks,

determined

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of

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deg/min

three

of

ba¬

axes.

2-5

(2)

End

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a

end

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to

gramming”.)

Example

G01

Fig.

point

designation

the

of

X40.

2.3

Programming

Y40.

can

be

of

Z40.

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specified

G90orG91.

00;

FI

Z-axis

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in

either

(For

40.

incrementalorabsolute

details,

Y-axis

40

see

3.2.1,

“Absolute/Incremental

./

values

40.

corresponding

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100

mm/min

Tangential velocity

X-axis

2-6

2.1

INTERPOLATION

COMMANDS

2.1.3

Circular

(1)

Interpolation

Command

To

execute

cified.

Table

Plane

DirectionofRotation

Position

Distance

Pointtothe

Format

the

2.3

Designation

of

from

Commands

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(G02,

circular

Point

Start

the

Center

G03)

interpolation,

Necessary

Two

G90

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G9l

axes

Two

the

commands

for

Gl7

Gl8

Gl9

G02

G03

axes

Y,

and

axes

Y,

and

among

Circular

among

Z

among

Z

I,

J,

and

indicated

Interpolation

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Circular Circular Clockwise Counterclockwise

End

X.

X,

K

point

coordinate

Signed

the

end

Signed

the

center

Table

in

arc

in

arc

in

arc

in

(CW)

position

system

distance

point

distance

the

the the

from

2.3

plane

XY

ZX

plane

YZ

plane

(CCW)

a

in

the

be

must

workpiece

start

point

start

point

spe¬

E

to

Radius

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of

Feedrate

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circular

the

arc

circular

arc

of

R

F

Radius

Velocity

along

2-7

(a)

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designation

1

the

With

cular

commands

arc

in

the

theFcommand

In

-

the

XY

G17

G02

•

the

In

ZX

G02

G18

•

the

YZ

In

G02

G19

designate

To

•

and

should

5th-axis,

polation

4th-

axes.

TheGcode

executed

When

also

the

G17 G18

indicated

plane,ZXplane,

XY

willbethe

Plane

G03)

(or

Plane

G03)

(or

Plane

G03)

(or

circular

the

selected

be

circular

designated

selects

turned

is

power

below,

tangential

• •

X

Z-•X-

•

Y

-Z-•-R-

interpolation

first

interpolation

select

to

the

plane

ON,

XY

ZX

Y-

where

plane,

a

or

velocity

•

R-

•

-R-

by

the

plane,

cutting

XY

tool

plane

YZ

of

(orl-

••

•

(orK-

•

(or

J-

mode

specifying

is

allowed

plane

in

tool

radius

plane

or

Xa

X(5

orZaor

Z(i

moves

so

that

the

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•

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•

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(G02,

the

which

offset

(G17)

plane

along

feedrate

the

arc.

•

-)F-

•

-)F-

•

-)F-

G03),

17,

G18,

G

only

circular

(G41/G42)

automatically

is

the

•

•;

•

the

or

when

interpolation

specified

plane

of

G19.

they

are

is

executed.

selected.

inter¬

For

linear

cir¬

by

the

is

•

If

an

Xa,

the

and

•

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G17

•

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G18

•

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G19

optional

Za,

planes.

ZX

G02

linear

4th-axis

Ya

plane

or

(a=U,

V,

interpolation

G03)

(or

X

interpolation

G03)

(or

Z

interpolation

G03)

(or

Y

2-8

YZ

which

or

Xa

in

•

••a•••

Ya

in

••a•

•

Za

in

•

••

plane,

selected,

is

includes

W)

plane

• •R•

plane

•

a

orYaor

R

•

R

Y(1

circular

4th-axis

the

•

plane

interpolationispossible

additiontothe

in

•

• •

•

(orl

(orK

(orJ

•••K•

•)

J

**)F

I

-

•

•)

in

XY,

YZ,

•

;

F

**•;

•••

;

F

2.1

INTERPOLATION

COMMANDS

(b)

If

•

the

and

•

If

•

the

plane

tion

axes.

Rotation

direction

The

an

optional

Zp,orYp

X|3,

planes.

ZX

Circular

G17

G02

Circular

G18

G02

Circular

G19

G02

address

characters

commands

automatically

is

with

the

direction

of

G02

linear

5th-axis

plane

(P=U,

interpolation

G03)

(or

X

interpolation

G03)

(or

Z

interpolation

(or

G03)

Y

which

“G

17

of

selected

or

4th-

arc

5th-axis

rotation

which

V,

or

xp

in

• •

zp

in

•

in

YaP

• •p•

•

represent

G02

should

Clockwise

selected,

is

includes

W)

plane

•

p

plane

•

• •

p

plane

•

X

for

not

is

be

specified

the

• •R• •

R

•••

R

the

4th-

• •R•

••

the

interpolation

possible

direction

circular

5th-axis

•

(orl

•

(or

(orJ

and

(orl

these

if

the

in

(CW)

interpolationispossible

in

additiontothe

•••J•

•

••I•

K

••

K

5th-axis

•

J

plane.

additional

manner

•

-)F

••

)

••

•)

are

• •

-)F

Circular

indicated

XY,

••

•;

••

•

;

F

•

••

F

omittedaswith

•••

;”theXY

interpola¬

axes

are

Fig.

in

YZ,

E

;

rotary

2.4.

Y-axis

Fig.

(c)

G03

XY

(G17)

2.4

End

The

ing

plane

point

end

to

the

G03

G02

Rotation

can

point

designation

X-axis

Direction

be

specified

of

Counterclockwise

X-axis

G03

ZX

(G18)

Circular

of

either

in

G90orG91.

direction

G02 G02

plane

(CCW)

Z-axis

G03

YZ

(G19)

plane

Arc

incremental

or

absolute

values

correspond¬

Y-axis

2-9

Example

Programming

of

a

G17

G90

Example

GI7

G91

G03

X15.

Programming

of

G03

X-40.

Y40.

Y-axis

40.

20.

Y20.

1-30.

End

15.

(a)

1-30.

J-

10.

point

Cen¬

tsÿ

Absolute

J-10.

F150;

G03

-30.

programming

F150;

55.

(G90)

Start

-10.

point

-

X-axis

Fig.

2.5

End

40.

20.

it

Point

Y-axis

End

point

of

Center

15.

(b)

Incremental

Circular

-40.

G03

xt

programming

Arc

-30

55.

20.

-10.

X-axis

(G91)

2-10

2.1

INTERPOLATION

COMMANDS

specified

the

If

changed

on

lies

from

the

specified

100

end

the

start

G01X100

G03X-50

/

point

arc.

/

is

point

--

(a)

YO

1-100;

not

the

to

Correcting

F200;

on

end

rs

the

--

point

Ui

specified

to

n

0

arc

an

arc,

generate

the

a

A

=

Radius

angle

Ar

=

50

arc

spiral

(

+

rs

correction

(

rs

re

-

G01X50.

G03X-100

radius

that

so

)

+

re

)

/

0

the

0

/

amount

Y0;

I-50;

is

gradually

end

x

et

per

point

unit

E

(b)

Fig.

-100

End

2.6

-50

0

-100

positioned

point

Interpolation

inside

100

circumference

the

with

End

Point

-100

off

(c)

-50

End

the

0

-50

lying

point

Specified

50

outside

Arc

the

circumference

2-11

(d)

Center

of

arc

1

The

center

start

the

Specifying

•

Independent

of

point.

Specifying

•

When

instead

“circular

•

arc

of

point

arc

an

defining

of

For

the

of

value

For

the

value

of

Example

G02

G17

can

specified

be

the

to

center

the

distance

designated

of

the

be

must

the

specifying

specified

radius

arc,

an

the

interpolation

circular

arc

“R>0”.

circular

“R

of

arc

0”.

<

Programming

•

X

Y

of

from

it

center

with

• •

two

in

arc

the

dimensioning

incremental

in

is

possible

of

designation”

R

the

central

the

•

R

±

methods

and

start

to

the

central

•

F

designation

-

designation

point

the

to

mode

values

by

addresses mode.

of

•;

the

specify

arc

angle

••

of

the

radiusofthe

center

(G90orG91),

referenced

radius

J,

I,

1

deg.

80

deg.

80

1

the

of

by

or

smaller,

or

distance

the

from

using

address

K.

Thisiscalled

larger,

use

arc.

the

use

from

center

start

an

R

Fig.

2.7

Circular

80°

1

Interpolation

2-12

larger

or

R

with

\

0

<

\,

Start

Radius

point

Designation

R

\

€

a

0

R

>

\

i

r

End

\

point

180°

or

smaller

(e)

Feedrate

2.1

INTERPOLATION

COMMANDS

(2)

Supplements

Fig.

In

as

2.8

the

in

A

•

mands

Example

GOO

G02

circular

linear

to

circular

in

XO

Full

interpolation

extending

single

110

Interpolation

block.Itis

JO

Circular

arc

a

Programming

of

YO;

YO

Circle

mode,

mode.

F100;

the

to

multiple

feedrate

Refer

also

Y-axis

-n

can

2.1

to

quadrants

possible

G02

be

“Linear

.2

to

10

specified

can

specify

the

in

Interpolation

be

defined full

circle.

a

20

X-axis

same

by

manner

(G01

the

com¬

)”.

E

With

•

the

interpolation

executed

ON

causes

full-circle

circular

In

•

smaller nected

commands

is

repeated

once.

Execution

full-circle

interpolation.

interpolation,

the

than

byastraight

value

2-13

G02(orG03)I

“G17

of

times.

by

n

of

interpolation

the

if

for

set

line.

If

the

commands

be

to

distance

parameter

•J• •

•

addressLis

with

interrupted

between

pm4450,

•F••

omitted,

single-block

the

after

the

start

these

•

Ln;”,

interpolation

the

execution

and

end

two

points

full-circle

is

function

one

of

points

con¬

are

is

2.1

.4

Helical

Interpolation

(G02,

G03)*

i

is

possible

It

with

the

axis

interpolation.

•

execute

to

which

The

the

In

G17

the

In

GI8

the

In

G19

the

In

G17

the

In

G18

the

In

G19

the

In

G17

linear

is

includedinthe

not

command

XY

plane

(or

G02

ZX

plane

(or

G02

YZ

plane

(or

G02

Xa

plane

(or

G02

plane

Za

(or

G02

Ya

plane

(or

G02

plane

XP

(or

G02

interpolation

format

G03)

X

G03)

Z••X

G03)

Y

G03)

X

Z

Y

X

•

G03)

circular

indicated

is

•

Y

•

Z

•a•

•

a

• •

a

•

•p• •

synchronization

in

interpolation

below.

•

• •R• •

•

R

•

R

•R•

•

R

•

(orl

(or

•

(or

•

(or

•

(or

•

(or

•

(orl

• •J•

K

• •K•

J

•

I

•

K

•

J

•

I

J

•

I

•K•

•J•

with

plane.

-)Z(a,P)

•

-)Y(a,P)

•)

X

•

•)

Z

•

•)

Y(p)

•

)

X

•)

Z(o)

circular

This

(a,

•

(p)

•

(P)

•

interpolation

is

called

• •

F

•F•

•

•F• •

p)

•F•

•

•F••

••F•

•F•

•;

;

•

;

helical

;

Where,

W-axis.

and

command

the

plane.

ZP

G02

YP

G02

the

4th-

plane

(or

plane

(or

linear

or

is

selected

G03)

4th

5th-axis

2-14

Z

•

Y

and

5th

is

specified

among

•p• •

axes

the

•

(orK

R

•

(or

R

respectively,

the

as

commands

J

end

in

••

•

•)

I

•

•)X(a)

K

each

representing

commandofthe

point

XY

the

•F•

Y(a)

•;

•

F

any

arc,

plane,ZXplane,

of

;

U-,

any

and

'V-,

of

YZ

the

In

•

G18

the

In

•

G19

are

and

a

P

no

If

format

Example

Programming

of

2.1

INTERPOLATION

COMMANDS

G17

G03

Fig.

XO

2.9

Y100.

100

R100

Start

Helical

F10;

Z90.

z

90

F=10

R

point

Interpolation

100

End

point

E

Y

\

POINT

I

/

1

2.

3.

.

arc

An

feedrate

The

dimensional

three

ear

axis

radius

Tool

plane.

be

must

programmed

specified

space

perpendicular

C*

offset

within

with

an

constituted

interpolation

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to

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valid

2-15

360°

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for

the

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indicates

circular

the

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axes

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the

tangential

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circular

velocity

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in

the

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2.2

REFERENCE

POINT

RETURN

a

2.2.1

Automatic

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trolled

tion

at

return

ignated

Example

(G90/G9

Return

commands

the

axes

a

rapid

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in

of

1

to

Reference

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are

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traverse

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the

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)

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to

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;

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>

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in

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reference

axes

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posi¬

point

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(1

)

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2.10

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reference

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high-speed

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in

stored

erence

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operation

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manually.

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2-16

High-speed

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2.2

REFERENCE

POINT

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parameter

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ence

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pm4011

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2.2

REFERENCE

POINT

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(c)

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the

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2.6

Parameter

D2

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1

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2-19

the

in

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the

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to

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OFF

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machine

tion,

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feed

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using

the

machine

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2.7

Low-

speed

type

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High¬

speed

type

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speed

type

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ON

High¬

speed

type

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lock

OFF

function.

hold

lock

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to

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to

ment

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axes

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2-20

2.2

REFERENCE

POINT

RETURN

(4)

Supplements

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to

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possible

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axis

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alarm

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to

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valid/invalid

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(X-axisto5th-axis).

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carrying

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M,

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details,

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2-21

2.2.2

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completion

reference

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point

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checks

the

part

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in

•••):”ÿ

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whether

program

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axes

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commands

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that

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at

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mand

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2-22

2.2

REFERENCE

POINT

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(2)

Supplements

erations

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the

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point

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position

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functions

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checked.

the

in

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1

in

2-23

9

2.2.3

Return

The

by

mediate

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Example

G28

G29

from

Reference

commands

executionofthe

the

positioning

been

executed.

of

Programming

•••

Z

Y

V

Point

•••

Z

Y

Point

of

•••

B

• ••

D

“G29

point

;

:

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•

Y

automatic

by

back

Point

-*

A

C

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•••

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reference

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axes,

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tracing

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-*

C

D

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return

along

point)

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function

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the

point)

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to

G30),

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to

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Fig.

2.11

Positioning

verse

Return

Dcr

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rapid

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in

Reference

/

t

Point

f

/

(Intermediate

B

Reference

positioning

point

return

point)

2-24

2.2

REFERENCE

POINT

RETURN

(1)

Intermediate

is

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The taken

G29

the

G28

If

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the

in

commands

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N21

N22

N23

N24

Operation

X30. X20.

GOO

X-40.

GOO

Positioning

possible

axes

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die

return

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block

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execution

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G28 G28 G29

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;

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to

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of

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;

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2.2.4,

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;

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I

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block

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rapid

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the

return

point

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20.,

(0.

20.,

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block.

paths

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be

set

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point

Y

Z

10.)

E

2-25

Example

G91;

N31

G28

N32

G28

N33

M06;

N34

N35

G29

Programming

of

•

Z-

Y40.;

X20.

Y-40.;

X40.

(reference

C

point)

a

Fig.

Intermediate

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2.12

•

Coordinate

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In

of

tion

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for

or

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Executionofthe

tion

positioning

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40.

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of

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20.

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of

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40.

of

Point

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with

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before

-O'

G29

for

Operation

positioning

intermediate

do

the

execution

+Y

point

used

positioning

not

specify

of

G29

point

such

after

+X

for

the

specified

commands

the

comple¬

execu¬

•

Execution

of

the

•

Execution

tion

G29

If

•

the

in

is

specified,

influenced

machine

of

setting

Coordinate

job)

POS.

in

Intervention

system

Interventionofmanual

of

the

mirror

image

mirror

of

with

the

is

executedinthe

block,

G29

and

this

by

G28,

image

G28,

manual

the

was

which

in

position

mode.

2-26

G30

or

(M94)

started.

or

M30

absolute

G9

the

(G92

lock

operation

G29

or

1

dataofthe

in

position

a

at

M29

or

OFF.

incremental

distance

coordinate

or

with

manual

block

a

after

from

specified

different

intervention

the

mode,

the

intermediate

system

absolute

from

is

it

valid

positioning

setting

OFF

after

the

of

for

positioning

operation

cancellation

position

manual

the

commands

point

where

opera¬

point

are

not

(2)

Supplements

(a)

Automatic

specified

G29

is

If

“0240”

alarm

to

Return

the

reference

occurs.

point

without

Command

return

the

execution

from

G28orG30

of

the

Reference

2.2

REFERENCE

after

turning

Point

POINT

Return

ON

the

RETURN

power,

(b)

Tool

If

(G73,

(c)

Tool

It

G30,

positioning

the

Fig.

radius

G29

G74,

position

is

necessary

or

tool

2.13

specified

is

G76,

G29.

point

position

G29

and

offset

in

G77,

offset

cancel

to

If

these

B’

offset

Operation

the

is

D’

O'*

G81

G

also

canned

tool

to

the

codes

offset,

and

tool

""/

Executed

cycle

radius

G89),

tool

position

are

executedinthe

causing

length

J/

-o

—

/

6

A'

offset

alarm

offset

*

A

%

in

the

mode

“0170”

offset

the

functions

/

B

Tool

(G41,G42)

or

“0182”

function

offset

(reference

C

Offset

move

to

amount

are

tool

(intermediate

Position

or

in

occurs.

before

mode,

to

point

canceled

not

point)

positioning

Offset

a

canned

specifying

the

intermediate

B.

Note

by

point)

Mode

E

cycle

G28,

that

G29.

(d)

Table

Mirror

2.8

Table

mode.

2.8

Parameter

image

indicates

G29

pm4001

0

I

how

Operation

D2

2-27

G29

is

executed

if

ExecutedinMirror

Mirror

point

Alarm

image

and

“01

is

the

command

27”

applied

occurs.

is

specified

it

Operation

the

to

values

in

Image

Mode

intermediate

specified

mirror

the

positioning

G29

the

in

image

block.

(M95)

2.2.4

Second

to

Fourth

Reference

Point

Return

(G30)

a

With

the

(second

P2

to

simultaneous

the mediate

third

the

specified

not

Reference

(1)

The

point.

for

Table

commands

reference

3-axis

positioning

in

point.

the

reference

Point

position

the

of

The

distance

following

2.9

reference

2nd

reference

3rd

reference

4th

“G30

of

point),

5-axis)

(*

point.

G30

If

“Pn”

block

Positions

reference

each

from

parameters.

Reference

point

Pn

P3

“G30

is

do

the

Points

•••

X

(third

control

X30.

P3

omitted,

move.

not

point

reference

first

X-axis

pm

•••

Y

reference

mode

Y50.;”

the

second

is

determined

Y-axis

(*

Z

point*),

after

is

point

pm

•••|3••

a

or

P4

the

positioning

specified,

reference

in

each

to

Z-axis

pm pm

(fourth

at

theX-and

point

of

reference

the

4th-axis

axes

the

reference

the

are

specified

Y-axis

is

selected.

the

to

first

points

pm pm pm

moved

point*)

inter¬

return

axes

The

reference

is

set

5th-axis

pm

in

to

(2)

Supplements

For

•

ments

If

•

G29

the

with

For

•

after

which

specified

the

to

the

points

2.2.1,

in

is

G29

specified

after

coordinate

G30

execution

the

power-ON

reference

2nd

to

“Automatic

passing

value

updated.

is

the

in

to

4th

considered

be

after

intermediate

the

of

G30,

of

either

point

block,

G30

2-28

Reference

for

to

Return

G30,

to

positioning

intermediate

reference

manuallyorby

has

alarm

not

“0240”

return

Return

Point

the

execution

Reference

is

made

positioning

return

point

execution

the

completed

been

occurs.

of

Point

at

point

must

Commands

G30,

refer

(G28)”.

the

point

specified

of

with

the

of

have

been

G28.

includedinthe

is

the

to

supple¬

specified

G30.

axis

specified

completed

axis

an

If

with

Only

for

axes

IS

3

MOVEMENT

CONTROL

Chapter

lecting

trolling

3.1

describes

3

coordinate

the

movement

the

SETTING

SYSTEM

Selecting

.1

3.1

.3

.5

Base

Workpiece

(G54

Local Machine

3.1.2

3.1

3.1.4

3.1

the

procedure

system

a

cutting

of

COORDINATE

THE

Coordinate

the

Coordinate

G59)*

to

Coordinate

COMMANDS

and

tool.

System

used

for

the

programming

System

(G92)

System

(G52

(G53)

setting

Q2)*

..

.

and

for

se¬

con¬

3-3

3-3 3-3

3-5

3-14 3-15

E

.6

3.1

3.1.7

DETERMINING

3.2

VALUE

3.2.1

3.2.2

3.2.3

Coordinate

Rotation

(G68,

Plane

INPUT

Absolute/Incremental

(G90,

Inch/Metric

Scaling

3-1

of

G69)*

Selection

THE

MODES

G91)

Input

(G50.G51)*

(G1

COORDINATE

Designation

System

7,

G18,G1

Designation

9)

(G20,

....

G21)

3-22

..

3-18 3-21

3-22 3-24

3-26

TIME-CONTROLLING

3.3

(G04)

3.3.1

3.3.2

3.3.3

Dwell

Exact Exact

Stop

(G09)

Mode

COMMANDS

,

(G61

G64)

. .

3-31

.3-32

a

3.4

3.5

TOOL

3.4.1

3.4.2

3.4.3

3.4.4

3.4.5

T,

S,

M,

3.5.1

3.5.2

3.5.3

3.5.4

OFFSET

Offset

Tool

Length

Tool Tool

Position

Tool

Radius

(G40,

3-Dimensional

(G40,

AND

Spindle

Tool

Function

Miscellaneous

Second

Function)

(B

FUNCTIONS

Data

Offset

,

G42)

G41

G42)*

G41,

B

FUNCTIONS

Function

Miscellaneous

Memory

Offset

*

Tool

(S

Function)

(T

Function

*

(G43,

(G45

C

Function

Offset

Function)

(M

Function

G44,

G49)

G48)

to

Function

Function)

...

3-33

.3-33

.

3-34 3-38

3-48

3-90

3-98

.3-98 .3-99

3-100

3-102

3-2

SETTING

3.1

COORDINATE

THE

SYSTEM

3.1

3.1.1

SETTING

Selecting

the

are

There

coordinate

sibletoselect

&

THE

COORDINATE

Coordinate

four

types

system*,

the

plane

>

/

Arbitrary

System

of

coordinate

local

coordinate

to

be

&

Shift

distance

coordinate

value

used

Commands

local

setting

for

system

SYSTEM

systems

system*,

eachofthe

in

specified

coordinate

workpiece

a

such

and

(Q)

system

as

base

the

machine

coordinate

tool

Present

Local

in

Workpiece (G54

Base

coordinate

systems.

position

coordinate

G59)

to

coordinate

system,

system

(G52

system

(G92)

workpiece

anditis

Q2)

pos¬

E

3.1.2

Base

Machine

Fig.

3.1

Coordinate

sets

(1)

Commands

(a)

programming

set,

is

specified

the

Features

G92

block,

Before

system

mands

mand

point

zero

System

single

a

after

position

is

a

no

Coordinate

(G92)

movement,

axis

absolute

setting

the

of

the

G92

of

non-modal

codes

G

other

Systems

coordinate

of

a

of

origin

G

code

can

coordinate

a

system

coordinate

a

coordinate

valid

is

that

be

specified.

system

is

system

only

Machine

(Reference

coordinate

must

determined

executedinit.

all

are

used

the

specified

in

system

0,

point:

be

0,

When

set.

and

absolute

for

programming.

block.

0)

coordinate

a

move

com¬

G92

In

the

com¬

G92

The

3-3

(b)

Command

Format

a

With

the

system

specified

G92

0,

Axis

taneously.

Example

G92

is

block

0)

of

the

movement

X500.

of

commands

so

set

that

G92

the

in

specify

coordinate

commands

Note

that

Programming

Z400.;

Y300.

+Z

of

the

block

the

f-

I

i

“G92X

present

(X,

distance

system

can

axes

300.

/

400.

•••Y•

tool

Y,

Z,

from

used

specified

be

not

specified

+Y

Origin

••Z••

position

*,

a

the

programming

for

*).

(5

point

has

In

for

the

—

/

fl

I

7

base

the

in

(*ct

the

other

that

should

up

three

to

G92

block

7!

*

/

coordinate

•

•|3•

absolute

words,

the

to

axes

do

i

I I I

500.

system

•

coordinate

the

be

set

present

(*

not

a

coordinate

addresses

as

the

origin

tool

axes)

five

move.

+x

values

the

in

(0,

position.

simul¬

Fig.

3.2

Setting

the

Base

3-4

Coordinate

System

SETTING

3.1

COORDINATE

THE

SYSTEM

3.1

Workpiece

.3

(2)

Supplements

Coordinate

possible

It

is

When

a

is

by

called

the

code

tem

sponding

(0,0,0)

G

called

to

by

•

code

G54

the

to

should

G92

With

the

established

0,

(0,

be

starting

before

set,

Once

coordinate

reset

a

Setting

•

Setting

X0Y0Z0(*a0

G92

System

set

(G54

the

shift

to

set

workpiece

a

to

workpiece

distance.

G59.

angle.

to

and

Base

the

be

system

when

Therefore,

0).

coordinate

the

“0”

G59)

is

It

Coordinate

specified

equipped

the

operation.

on

for

in

withanincremental

power

is

it

system

system,

the

perform

UNIVERSAL

coordinate

P0)

(G54toG59)*

coordinate

specified,

is

coordinate

Shift

distance

also

possible

System

the

state

is

turned

necessary

is

system

;

system

distance

shift

system

is

set

rotate

to

Commands

tool

where

encoder,

ON

not

any

(COORD-SET)

is

on

that

so

the

to

set

influencedbythe

of

the

following

the

in

MDI

shifting

by

corresponding

by

shifting

set

WORK

the

a

coordinate

offset

the

present

required

screen

mode

the

base

the

SHIFT

system

has

been

coordinate

tool

coordinate

reset

operations.

coordinate

the

to

coordinate

base

SET

around

canceled.

system

position

system

operation.

system.

specified

screen

the

corre¬

origin

is

will

To

E

G

sys¬

Table

G

Code

G54

G55

G56

G57

G58

G59

3.1

G

Codes

Used

Shift

Shift Shift

to

workpiece

to to

workpiece

to

workpiece

to

workpiece

to

workpiece

3-5

Call

Function

Workpiece

coordinate

Coordinate

system

1

system

2

3

system

4

system

5

system

6

system

Systems

Group

12

12 12 12 12 12

(1)

Number

of

Workpiece

Coordinate

Systems

1

Option

system

Coordinate

J1

G57

J1

G57

J9

G57

Jl

G57

J27

specified

for

address

Number

Format

Setting

(PI)

J1

(PI)

Jl

(P9)

J9

(PI)

Jl

(P27)

J27

occurs

1

2

3

of

workpiece

Option Option

Option

improper

an

if

1

2

3

Workpiece

G56

The

number

3.2

Table

(2)

Command

Table

3.3

1

2

3

G54 G54

G54

Jl

J9

Jl

J27

(PI)

(P9)

(PI)

(P27)

Note:

(PI)

J1

G55

G55 G55

G55

alarm

An

Option Option

Option

coordinate

Workpiece

of

(PI)

J1

G56

(PI)

J1

G56

(P9)

J9

G56

(PI)

Jl

G56

(P27)

J27

value

J2

or

JlOor

J28

or

is

larger

sets

System

54

162

System

(PI)

(P9)

(PI)

(P27)

J.

can

sets

6

be

sets

G58 G58

G58

increased

Sets

(PI)

J1

(PI)

J1

(P9)

J9

(PI)

Jl

(P27)

J27

optionally.

J27

J1

JI

J9

Jl

(PI)

(P9)

(PI)

(P27)

G59 G59

G59

By

specifying

•

subsequent

tem.

the

following

meaning.

By

specifying

•

possible

is

it

coordinate

By

specifying

•

canceled

workpiece

If

•

coordinate

new

the be

selected

programs

Address

pm401

2

pm4012

system.

and

system

shift

by

(G55,

“G54

are

can

be used

P

parameter.

D7

0

=

D7

1

=

(or

“G53

specify

to

“G52;”

base

the

coordinate

is

selected

distance

setting

the

3-6

G56,

executed

insteadofaddress

“G54”,

G90)

GOO

temporary

workpiece

the

coordinate

system

by

made

for

valid

parameter

is

G57,

in

“G54

X

shift

system

shift

the

without

G58,

or

the

selected

Jl”,

•

Y

of

coordinate

a

J

P

Address

coordinate

is

called.

distance

execution

specifying

(pm4021

G59)

J,

by

and

•Z• •

system

changed

is

G54

of

(J2

J

1

workpiece

changing

“G54

JO”

•

(*

system

selected

after

G59,

to

G54toG59

DO).

J27)”,

coordinate

setting

the

have

the

••

•(3•

a

the

in

currently

workpiece

the

whether

again

the

sys¬

for

same

•

machine

is

or

not

can

SETTING

3.1

THE

COORDINATE

SYSTEM

(3)

Rotation

By

G54toG59

same

Example

G92

G54;(G68

G55;(G69)

G52;(G69)

M30

Note:

The

Workpiece

of

entering

XO

•

<—

time

when

of

YO

The

the

block,

Programming

ZO;

XO

•

<-

workpiece

A

workpiece specified

(G68X0Y0R

•

The

<—

workpiece

rotation

•

G52

<—

coordinate

;

commands

in

Coordinate

address

rotationofthe

the

workpiece

coordinate

base

•

YO

R

coordinate

following

•

workpiece

coordinate

angle

returns

system

(

)

indicate

calling

system

•

•)

coordinate

address

•

•)

coordinate

specified

coordinate

the

canceledatthe

is

program

the

System

rotation

of

workpiece

coordinate

is

set.

system

is

R.

system

which

in

is

G55

the

system

the

uses

a

workpiece

coordinate

system

by

is

set

rotated

by

set

according

set

block.

the

to

same

coordinate

called.

is

G54.

around

G54

one

time.

rotation

coordinate

system

is

to

set

is

the

At

(0,

0)

it

canceled

the

shift

by

G92.

function.

same

system

executed

time,

by

the

and

a

distance

Rotation

in

at

the

angle

new

the

and

of

1

a

3-7

1

G54

workpiece

coordinate

system

Y

shift

G54

workpiece

coordinate

;

!

system

shift

A

G54

rotated

base

coordinate

T7n.--.w-

-

—

G54R

X

system

I

G54

—

G92

system

Fig.

3.3

•

Rotation

coordinate

If

G54,

by

G28orG30

The

To

the

fy

When

be

differenceiscaused

•

rotation

coordinate

cancel

the

shift

distanceofthe

again.

G54

the

coordinate

varied

depending

By

the

reset

values

mand

coordinate

The rotation tion.

of

Workpiece

rotationisexecuted

is

executed.

rotation

coordinate

operation,

to

calculation

applied

also

However,

functionisvalid

rotation

called

rotation

on

whether

by

the

following

the

be

re-set.

rotation

to

the

function

Coordinate

when

the

to

this

executed

workpiece

executed,

is

or

not

two

present

NC

position

generates

commands

System

calling

the

a

workpiece

intermediate

applied

not

is

only

in

G54,

by

coordinate

the

subsequent

intervention

specifications.

is

taken

axis

reference

in

positioning

to

G17

the

either

system

into

move

coordinate

reference

the

plane.

specify

“0”,

to

program

of

reset

the

distance

the

to

is

NC

center

point

G52

then

paths

valid.

as

the

by

applying

system

when

point.

or

reset

speci¬

will

This

com¬

of

rota¬

(SUPPLE/"\

IMENT

If

address

an

(J

address

(Example)

when

the

is

different

selection

disregarded

pm401

G54

2

J2

from

is

D7

X0

P,

for

or

the

=

Y0;

one

the

1

selectedbythe

when

P

(Selection

—Executed

3-8

the

execution

selection

G54.

of

(for

P)

of

“G54

as

setting

isJ)is

option

X0

PI

parameter

for

specified

3)

or

2

Y0;”

with

pm4012

G54,

such

D7

an

SETTING

3.1

THE

COORDINATE

SYSTEM

Workpiece

(4)

Fig.

Example

300.

Nl

N2

N3

N4

N5

N6

400.

200.

100.

3.4

Y

Coordinate

shows

Programming

of

G90

G54;

XIOO.

X300.

G52;

X0.

N2

N10

16

100.

how

300.

200.

100.

200.

System

positioning

00.

XI

Y300.;

Y200.;

Y0.;

N3

100.

I

300.

Shift

is

executed

Y200.:

200.

400.

Distance

N4,

I

300.

1

500.

by

G54

(200.,

N5

400.

600.

setting

P1

100.)

i

a

Workpiece

500.

700.

workpiece

coordinate

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distance

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(1)

Fig.

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a

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system

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workpiece

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ing

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•

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workpiece

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coordinate

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of

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4.41,

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3.1

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ming

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workpiece

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erence

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point

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to

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G59)

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Once

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400.

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500.

600.

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3-14

700

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system

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system

Base

-

system

X

(200.,

coordinate

100.)]

(2)

Supplements

to

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SETTING

3.1

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COORDINATE

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SYSTEM

3.1

.5

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reference

(1)

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workpiece

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where

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coordinate

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system,

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machine

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at

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the

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the

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Fig.

3.7

Absolute

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r

7/

/

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S

point

zero

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3-15

G54-G59

coordinate

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system

4

I

G53

/

X0

(2)

Example

of

Programming

a

Workpiece

800.

r

700.

600.

-

500.

How

the

coordinate

Example

G92

N1

G54

N2

G53

N3

N4

X300.

G52;

N5

XO

N6

coordinate

700.

600.

500.-300.

400.

coordinate

system

Programming

of

X200.

G90

X300.

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(1)

system

500.

r-

400.

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200.

-

systems

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distance

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defined

are

in

Fig.

YIOO.;

00.

XI

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(300.,

3.8.

Y200.;

300.)

by

the

program

created

based

on

the

machine

400.

300.

200.

100.

N6

100.

Fig.

100.

300.

-

200.

100.

N1

MachinelOO.

origin

200.

3.8

!

100.

200.

1

300.

400.

Example

:

1

\200.

N3

1

300.

500.

Program

of

3-16

N4,

-'300.

400.

600.

N5

l

:

in

400.

i

500.

700.

the

1

500.

600.

1

600.

700.

800.

900.

Machine

j

1

700.

1

800.

1

1000. 1100.

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1

800.

900.

I

Workpiece

coordinate

system

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system

Base

system

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(1

)

coordinate

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(3)

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the

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3.1

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SETTING

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Commands

COORDINATE

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•

satisfied.

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date

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pleted.

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the

machine

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correctly.

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it

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are

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not

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with

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machine

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the

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01

-group

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length

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radius

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code

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the

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it

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alarm

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the

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,

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mode,

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if

3-17

3.1

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Rotation

Coordinate

of

System

(G68,

G69)*

a

(1)

Using

(a)

Table

G68

the

Features

For

the

3.4

G

and

G68

and

ON

G68

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coordinate

The

and

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of

and

of

are

the

G69

system

rotation

Coordinate

Code

G68 G69

G69

when

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and

coordinate

a

System

modal

is

NC

blocks

G69

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Cancel

G

codes

reset,

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rotation

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belonging

is

G69

include

not

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the

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system

rotation

system

rotation

8-group.

1

to

automatically

otherGcodes.

by

called

is

G68

G

codes

When

selected.

must

are

the

be

canceled

used.

Group

18 18

power

turned

is

by

G69.

3-18

SETTING

3.1

THE

COORDINATE

SYSTEM

Command

(b)

Fig.

specifying

By

•

commands

withRaround

degree.

(a.

b)

3.9

•

Rotation

specifying

By

“G69”.

format

specified

(or

“G

17

in

point

the

Coordinate

of

*‘G69;”,

18,

G

following

the

b).

(a,

R

the

coordinate

19)

G

G68

Rotation

System

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a

blocks

angle

system

are

can

a,

:

R

rotation

b

.....

rotated

be

specified

Center

b:

Angle

(CCW

specified

units

;

specified

of

to

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value)

R

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by

angle

the

in

rotation

of

rotation

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absolute

an

in

modeiscanceled

”,

the

0.001

by

E

•

The

G68

G17 G18 G19

command

G68

command

XY

ZX

YZ

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specified.

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plane

executed

The

Xa,

or

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or

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or

YP

in

XP

the

4th-

plane

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that

5th-axis

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must

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linear

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when

axes.

the

3-19

(2)

Supplements

to

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the

System

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a

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is

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coordinate

The

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tions

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the

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image

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applied

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to

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radius

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workpiece

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to

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the

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rotated,

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system

in

predetermined

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occurs.

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rotation

of

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rotation.Inthis

of

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(G68)

specified

rotation

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position

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Note

position

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rotation

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>

and

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in

when

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data

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however,

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be

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in

scaling

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mode,

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mode,

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C

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this

order

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mirror

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applied

the

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in

alarm

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Table

G

code

Usually,

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proach

piece

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Table

3.5

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not

G68

the

0311

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motion

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3.5.

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No.

allowed

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error

the

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codes

Codes

in

G68

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and

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machined

code

A

is

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OFF

correctly

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that

rotation

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block

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tool

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completion

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turned

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Description

the

in

G68

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offset

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format

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ON

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machining.

are

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of

start

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work-

indicated

ap¬

in

3-20

3.1

SETTING

COORDINATE

THE

SYSTEM

3.1.7

Plane

Selection

plane

The

executed

Table

G

G17

G18

G19

is

plane

A

horizontal

The

“+Y-axis”.

rant

(G17,

where

circular

selected

is

3.6

Plane

Code

definedinthe

axis

When

•

G18,

G19)

interpolation,

specifying

by

SelectionGCodes

following

first

in

the

quadrant

+Y-axis

o

power

is

the

tool

the

following

manner

turned

radius

Function

plane

XY

plane

Z

X

plane

YZ

(in

is

“+X-axis”

ON,

the

offset,

G

code.

case

the

+X-axis

XY

and

plane

and

coordinate

of

XY

vertical

the

(G17)

plane):

is

system

axis

the

in

selected.

rotation

Group

02

02 02

same

are

E

quad¬

command

move

Axis

•

selection

moved Execution

•

axis:

the

If

•

the

If

•

The

•

of

by

Z-axis).

4th-axis

G17 G18 G19

5th-axis*is

GI7

G18 G19

plane

specifying

of

on

mandisdetermined

cludes

the

rotary

plane

canned

a

*

is

XY

ZX

YZ

:

XY

:

ZX YZ

which

of

G

by

“G17

cycle

selected,

plane

selected,

plane plane plane

the

by

the

or

4th-

3-21

a

single

17,G18,

Z

is

possible

the

or

Xa

or

Za

or

Ya

the

Xp

or

Zp

of

Yp

or

radius

tool

designation

5th-axis

axis

can

G19.

and

only

following

plane

following

plane

offset

of

cannot

be

specified

For

example,

G

7

the

are

G18

1

added.

or

as

in

planes

executedbythe

is

G17,

selected

be

independent

the

Z-axis

(hole

plane

G41orG42

G19;

the

offset

the

of

can

machining

plane

that

plane.

the

be

com¬

in¬

3.2

DETERMINING

This

section

THE

describes

COORDINATE

the

commands

used

to

input

VALUE

coordinate

INPUT

values.

MODES

a

3.2.1

Absolute/Incremental

G

codes

These

en

in

(1)

an

Using

(a)

Table

specify

absolute

the

Features

3.7

G90

•

specified

The

•

is

value

G90/G91

Absolute/Incremental

G

Code

G90

G91

and

power-ON

turned

Designation

whether

or

G90

of

G91

ON,

dimension

incremental

Command

and

are

same

the

in

state,

can

(G90,

values

value.

G91

Designation

Absolute

Incremental

modalGcode

be

block,

that

set

the

is

the

for

parameter

G91)

specified

Function

designation

belonging

one

specified

G90orG9

pm4000

following

G

Codes

to

03-group.

later

mode

1

that

D1

is

.

axis

an

If

valid.

valid

is

address

Group

G90

when

03 03

and

the

are

G91

power

giv¬

are

The

•

can

pm4000 pm4000 pm4000

pm4000

reset-state,

for

be

set

D6=0 D6=0

D6

=0

D1

1

=

that

parameter

and and

:

1

=

Power-ON Power-ON

G90orG91

is

the

pm4000

TheGcode

disregarding

state

D6.

D1

(G90

of

=

the

is

G90.

G91.

is

mode

0:

:

1

or

setting

is

that

Reset-state

)

G91

that

for

valid

when

G90.

is

G91

is

was

valid

pm4000

.

before

1

D

.

theNCis

reset,

3-22

yaskawa J300M, J100M Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual