Fanuc Series 15i/150i-MA (Programming) Operators Manual

13.FUNCTIONS TO SIMPLIFY PROGRAMMING PROGRAMMING B-63324EN/03
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NOTE
1 Use absolute programming for Xp, Yp, and Zp
specified in G68.
2 When only one rotation is sufficient, the second G68
is not required.
3 If the second G68 does not specify Xp, Yp, or Zp, the
center of the second rotation is the same as that of
the first rotation.
4 If any of the following is specified, an alarm (PS0626)
is issued:
(1) In a three-dimensional coordinate conversion
command block, none of I, J, and K is specified.
(The coordinate system rotation option is not
selected.)
(2) In a three-dimensional coordinate conversion
command block, 0 is specified for all of I, J, and K.
(3) In a three-dimensional coordinate conversion
command block, angular displacement R is not
specified.
Explanation
- Program coordinate system and workpiece coordinate system
Sample program:
N1 G68 Xp x
1
Yp y
1
Zp z
1
I i
1
J j
1
K k
1
Rα ;
N2 G68 Xp x
2
Yp y
2
Zp z
2
I i
2
J j
2
K k
2
Rβ ;
N3 G90 G01 Xp x Yp y Zp z ;
Coordinate system definition
Coordinate system X, Y, Z :
Original workpiece coordinate system
Coordinate system X’, Y’, Z’ :
Coordinate system after the first coordinate conversion
N1 specifies the rotation center, rotation center axis
direction, and angular displacement of the first rotation. As
a result of the first rotation, coordinate system X’, Y’, and Z’
is produced which has its center shifted by (x1,y1,z1) with
respect to the original workpiece coordinate system, and is
rotated about (i1,j1,k1) by α.
Coordinate system X", Y", Z" :
Program coordinate system
N2 specifies the rotation center, rotation center axis
direction, and angular displacement of the second rotation.
As a result of the second rotation, coordinate system X", Y",
and Z" is produced which has its center shifted by (x2,y2,z2)
with respect to coordinate system X’, Y’, Z’, and is rotated
about (i2,j2,k2) by β.
Note that Xp, Yp, Zp, I, J, K, and R in N2 are the coordinates
and angle in the coordinate system produced by conversion
by N1.

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