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

B-63324EN/03 PROGRAMMING 13.FUNCTIONS TO SIMPLIFY PROGRAMMING
- 359 -
Programmed values Xp, Yp, and Zp in N3 are regarded as being the
coordinates in program coordinate system X", Y", and Z".
Examble) G68 Xx
0
Xy
0
Zz
0
10 JO K1 R
α
G68 11 JO K0 R
β
y
Z
Y
X
Z’’
Z’
β
Y’’
Y’
β
P(x,y,z)
α
O(X
0
,Y
0
,Z
0
)
α
Fig.13.9 (b) Program coordinate system and workpiece coordinate
system
- Angular displacement R
A positive angular displacement R indicates a clockwise rotation along
the axis of rotation.
- Least command increment of angular displacement
The least command increment of angular displacement is 0.001 degree
or 0.00001 degree.
When bit 2 (RTR) of parameter No. 6400 is set to 0, 0.00001 degree is
used. When the bit is set to 1, 0.001 degree is used.
NOTE
When a decimal point is used in the angular
displacement command (R_), the position of the
decimal point represents degrees.
- Reset
If a reset occurs during three-dimensional coordinate conversion mode,
the mode is canceled and the continuous-state G code is changed to
G69.
When bit 4 (D3R) of parameter No. 6400 is set to 1, however, three-
dimensional coordinate conversion mode (G68) can be cancelled only
by the G69 command. That is, when the bit is so set, three-dimensional
coordinate conversion mode (G68) is not cancelled even by a reset, or
X,Y,Z :Workpiece coordinate
system
X’,Y,Z :Coordinate system
produced after the first
conversion
X’’,Y’’,Z’’ :Coordinate system
produced after the second
conversion
α :Angular displacement in the
first conversion
β :Angular displacement in the
second conversion
O (x
0
, y
0
, z
0
) :Center of rotation
P (x, y, z) :Coordinates in coordinate
system X", Y", Z" (program
coordinate system)

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