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FANUC Series 16i/18i Additional Manual Page 23

Additional Manual
13284 Compensation angle for real rotary axis (C
0
)
[Data type] 2 word
[Unit of data]
increment system IS-B IS-C Unit
Rotary axis 0.001 0.0001 Degree
[Valid data range] 0 to 360.0degree
This parameter is set the angle between the vector of the plus direction of
hypothetical axis X and the vector connecting from the center of the real rotary axis
(C) to the tool when the machine coordinate value of the real rotary axis C is 0 degree
in CCW (Counter Clock Wise) direction.
C
0
in the following figure is set into this parameter.
Xc
X
Hypothetical machine coordinate of X
Hypothetical machine coordinate of Y/
Real axis machine coordinate V
Machine origin point
Compensation
angle C
0
Machine coordinate of C is 0 deg.
Rotary center of C axis
Tool
NOTE
If this parameter is changed in hypothetical mode, the compensation
pulses (the following C
COM
) by changing parameter are outputted at
once with motion command. Therefore, the compensation pulses by
changing parameter should be
“(the compensation pulses * 7500) < (the rapid traverse rate)”.
If the compensation pulses by changing parameter are big, the servo
alarm 415 (n-th AXIS MOTION OVER) may be generated.
C
COM
: Compensation pulses by changing parameter
C
0OLD
,C
0NEW
: Compensation angle for the real rotary axis C
(Parameter No.13284)
)(
00 OLDNEWCOM
CCC
−
−
=
3)
A-79306E
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Apprv. Desig.
Sheet
Title
Draw
No.
Date
Design
Descri
p
tion
Date
FANUC Series 16i /18i –MB, 18i-MB5
Hypothetical linear axis control
Specifications
Dec.11.2003
T.Horie H.Kouzai
23
/25
02
Jan.30.2004
N.Aizawa
A
dd or Change at 2) part H.Kouzai
A
dd or Change at 3) part H.Kouzai
N.Aizawa
Dec.20.2004
03
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Contents Summary of FANUC Series 16i/18i Additional Manual

  • Page 1FANUC Series 16i /18i -MB, 18i-MB5 Hypothetical linear axis control Specifications FANUC Series 16i /18i –MB, 18i-MB5 Title Hypothetical linear axis control Specifications Draw A-79306E 03 Dec.20.2004 N.Aizawa Add or Change at 3) part H.Kouzai No. 02 Jan.30.2004 N.Aizawa Add or Change at 2) part H.K
  • Page 2- Contents - 1 GENERAL.........................................................................................................................................................3 2 DESCRIPTION..............................................................................................................
  • Page 31 General By this function, the machine having two linear axes and one rotary axis, not having 3 linear axes, can be controlled as a normal X-Y-Z axes machine. The linear axis not having a real axis becomes a hypothetical axis and it is necessary that hypothetical axis is set as one of CNC controlle
  • Page 42 Description Axis configuration The explanation from here is based on the axis configuration shown in Fig.1. The axis setting is shown in the following table. X,Y axes are the hypothetical axes, V,Z,C axes are the real axes. X axis is a hypothetical axis for the real axis C, Y is a hypothetical axi
  • Page 5Hypothetical machine coordinate, hypothetical work coordinate and real axis machine coordinate Fig.2 shows the relation between the coordinates which is using in this function. Y’ /Real axis machine coordinate of V Hypothetical machine coordinate of Y Y Moving path of rotation center of C Rotation c
  • Page 6Hypothetical axis command mode and real axis command mode - Hypothetical axis command mode During the hypothetical axis command mode, the command for the hypothetical work coordinate or for the hypothetical machine coordinate are available. The command for the hypothetical axes (X,Y) is converted to
  • Page 7position. In case that there is the only one axis loses the reference position, the alarm 2) (P/S5359) is generated when the hypothetical axis command mode is selected. 2) FANUC Series 16i /18i –MB, 18i-MB5 Title Hypothetical linear axis control Specifications Draw A-79306E 03 Dec.20.2004 N.Aizawa A
  • Page 8Convert method - The coordinate during the hypothetical axis command mode The hypothetical work coordinate or hypothetical machine coordinate is allowed during the hypothetical axis command mode. - Convert formula During the hypothetical axis command mode, the (XM,YM) on the hypothetical machine coo
  • Page 9Real axis machine coordinate V Hypothetical machine coordinate of Y/ Rotary center of C axis Compensation angle C0 X Machine coordinate value of C is 0 deg. Tool Machine origin point Hypothetical machine coordinate of X 2) C axis position Usually there are two positions of C axis which can become an
  • Page 10Position display The position display is different between the hypothetical axis command mode and the real axis command mode. - The hypothetical axis command mode The displayed data for the real axes in the hypothetical plane includes +/- 1 error of the least input increment. Relative/Absolute Dista
  • Page 11Restrictions - Allowed functions in the hypothetical axis command mode The following G code is allowed in the hypothetical axis command mode. If the other G code is commanded, the alarm (P/S5356) is generated. - Rapid traverse -G00 (G00 is allowed in case the parameter LRP(No.1401#1) is set to “1”.)
  • Page 12- Allowed functions in the real axis command mode The following G code is allowed in the real axis command mode. If the other G code is commanded, the alarm (P/S5356) is generated. - Rapid traverse -G00 (G00 is allowed in case the parameter LRP(No.1401#1) is set to “1”.) 2) - Linear interpolation -G
  • Page 13- Not Allowed functions The hypothetical linear axis control function cannot be used with the following functions. - Flexible synchronous control - Angular axis control - Chopping function - Function for hobbing machine - Simple electric gear box - AI contour control - AI nano contour control - AI h
  • Page 14- Stored stroke check 2 The stored stroke check 2 is executed on both hypothetical axes (X,Y) and real axes (V,C,Z). The stroke check for the hypothetical axes is executed based on the hypothetical machine coordinate value. The parameter BFA (No.1300#7) is available for the hypothetical axes and rea
  • Page 15- Programmable mirror image The mode switching between hypothetical axis command mode and real axis command mode must be commanded after canceling programmable mirror image mode. If the mode switching is commanded during programmable mirror image mode, the alarm (P/S5359) is generated. - Coordinate
  • Page 163 Signals - Signal detail - Hypothetical axis command mode signal IMMD [Classification] Input signal [Function] Switching between hypothetical axis commnad mode and real axis commnad mode. In case of “1”, the hypothetical axis command mode is selected. In case of “0”, the real axis command m
  • Page 17• Overtravel signal (+Lx, -Lx : G114,G116) This signal is valid for all axes (X,Y,V,C,Z). • Stroke limit external setting signal (+LMx,-LMx : G110,G112) This signal is valid for all axes (X,Y,V,C,Z). • Axis direction dependent stored stroke limit switch signal (+EXLx,-EXLx : G104,G105) This signal i
  • Page 18• Reference position return end signal (ZPx : F094) 2) During hypothetical axis command mode, this signal is valid for hypothetical axes 2) (X,Y) and the real axis out of hypothetical plane (Z). 2) During real axis command mode, this signal is valid for real axes (V,C,Z). 2) • Reference position est
  • Page 194 Parameter 13280 Axis numberof hypothetical axis for real axis in hypothetical plane [Data type] Byte axis [Valid data range] 0,1 to Number of controlled axes Set the relation ship between the hypothetical axis and the real axis in hypothetical plane. The following is an example in which X,Y axes a
  • Page 2013281 Distance between the rotation center of real rotary axis in hypothetical plane and the center of the tool (L) [Data type] 2 word [Unit of data] increment system IS-B IS-C Unit Millimeter machine 0.001 0.0001 mm Inch machine 0.0001 0.00001 Inch [Valid data range] 0 to +99999999 NOTE 3) If this
  • Page 21#7 #6 #5 #4 #3 #2 #1 #0 13282 CFD ANGS2 ANGS1 3) [Data type] Bit #0 ANGS1 In case that the angle between the X axis plus direction and the vector from the center 2) of the real rotary axis in the hypothetical plane (C) to the tool is 0 degree at starting 2) the hypothetical axis command mode, the mo
  • Page 2213283 Distance and direction from the rotation center of the real rotary axis (C) to the machine origin point of hypothetical axis (X) (Xc) [Data type] 2 word [Unit of data] increment system IS-B IS-C Unit Millimeter machine 0.001 0.0001 Mm Inch machine 0.0001 0.00001 Inch [Valid data range] -999999
  • Page 2313284 Compensation angle for real rotary axis (C0) [Data type] 2 word [Unit of data] increment system IS-B IS-C Unit Rotary axis 0.001 0.0001 Degree [Valid data range] 0 to 360.0degree This parameter is set the angle between the vector of the plus direction of hypothetical axis X and the vector conn
  • Page 241022 Setting of each axis in the basic coordinate system [Data type] Byte axis To determine the following planes used for circular interpolation, cutter compensation C, etc., each control axis is set to one of the basic three axes X,Y and Z, or an axis parallel to the X,Y, or Z axis. G17 : Plane Xp-
  • Page 255 Alarm and Message Number Message Contents P/S5356 IMPROPER G-CODE Illegal command was commanded in the hypothetical axis command mode or in the real axis command mode. P/S5357 ILLEGAL AXIS SELECT The real axes is commanded in the hypothetical axis commanded mode. The hypothetical axis is commanded