2. Specification
2.1 Command format
G68.1 selects the three-dimensional coordinate conversion mode and G69.1 cancels it.
Nl G68.‘l Xpxl Yp yl Zpzl I il J jl K kl R cy ;
N2 G68.1 Xp x2 Yp y2 Zp z2 I i2 J j2 K k2 R /3 ;
N3
.
l& G69.1 ;
Starting three-dimensional
coordinate conversion
Three-dimensional coordi-
nate conversion mode
Canceling three-dimensional
coordinate conversion
XP, YP, ZP
: Center of rotation (absolute coordinate) in the X,Y, and Z
axis or parallel axes
I,J,K :
Direction of the axis of rotation
R
: Angular displacement
The center, axis, and angle of the first rotation are specified in the Nl block. The Nl block
produces a new coordinate system, x’,Y’,Z’. Viewed from the original workpiece coordinate
system, the new coordinate system is created by shifting the origin of the coordinate system by
(xl ,yl ,zl) and rotating the original coordinate system about vector (il jl ,kl) by an angle
a.
In the N2 block, the center, axis, and angle of the second rotation are specified. The
Xp,Yp,Zp,I,J,K, and R values specified in the N2 block indicate the values and angle on the
coordinate system produced after coordinate conversion of the Nl block. The N2 block produces
coordinate system x”,Y”,z”. Viewed from X’Y’Z’, new coordinate system X”,Y”,Z” is created by
shifting the center of X’,Y’,Z’ by (x2,y2,z2) and rotating X’,Y’,Z’ about vector (i2,j2,k2) by an angle
/3. The Xp,Yp, and Zp values specified in the N3 block are coordinates on X”,Y”,Z”. X”,Y”,Z” is
. called the program coordinate system.
If the Xp,Yp, and Zp values are not specified in the N2 block, the Xp,Yp, and Zp values specified
in the Nl block are used as the center of the second rotation. This means that the Nl and N2
have a common center of rotation. When only one rotation is required, the N2 block need not be
specified. In the G68.1 block, specify Xp,Yp, and Zp using absolute values.
A positive angular displacement R indicates a clockwise rotation along the axis of rotation.
Specify angular displacement R in 0.001 degrees within the range of -360000 to 360000.
Bit 2 (D3R) of parameter No.5400 can specify that only the G69.1 command cancels the three-
dimensional coordinate conversion mode(G68.1). With such a specification, a system reset, the
input signal from PMC does not cancel the three-dimensional coordinate conversion mode.
TITuFANUC Series 16/l 8-TC
FANUC Series 16ill8i-TA
Three dimentional coordinate convertion
Specifications
DRAW. NO.
A-60545-E
CUST.
EDIT.
DATE
DESIG.
DESCRIPTION
FAIUUC LTD SHEET 3’14
E
k