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

13.FUNCTIONS TO SIMPLIFY PROGRAMMING PROGRAMMING B-63324EN/03
- 364 -
(Example)
G68 X100. Y100. Z100. I0. J0. K1. R45. ;
:
G41 D01 ;
:
G40 ;
G90 G00 X100. Y100. Z0 ; Always use absolute programming.
G69 ;
- Parallel axis control
Even if a parking signal is enabled for an axis in parallel axis control,
three-dimensional coordinate conversion is applied to another axis for
which a move command is specified, if any. So, a movement may be
made on an axis for which the parking signal is enabled.
- Single-direction positioning
In three-dimensional coordinate conversion mode, the single-direction
positioning command (G60) cannot be specified.
Equation for three-dimensional coordinate conversion
The following equation shows the general relationship between (x, y, z)
in the program coordinate system and (X, Y, Z) in the original
coordinate system (workpiece coordinate system).
+
=
1
1
1
1
z
y
x
z
y
x
M
Z
Y
X
When conversion is carried out twice, the relationship is expressed as
follows:
+
+
=
1
1
1
2
2
2
121
z
y
x
z
y
x
M
z
y
x
MM
Z
Y
X
ZYX ,, : Coordinates in the original coordinate system
(workpiece coordinate system)
zyx ,, : Programmed value
(coordinates in the program coordinate system)
111
,, zyx
: Center of rotation of the first conversion
222
,, zyx
: Center of rotation of the second conversion
(coordinates in the coordinate system formed
after the first conversion)
1
M
: First conversion matrix
2
M
: Second conversion matrix
M
1
and M
2
are conversion matrices determined by an angular
displacement and rotation axis. Generally, the matrices are expressed
as shown below:
++
++
++
θθθθθ
θθθθθ
θθθθθ
cos)1(sin)cos1(sin)cos1(
sin)cos1(cos)1(sin)cos1(
sin)cos1(sin)cos1(cos)1(
2
3
2
3132231
132
2
2
2
2
3
21
231321
2
1
2
1
nnnnnnnn
nnnnnnnn
nnnnnnnn

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