FANUC Series 16/18/160/180-Model C Machining Center Operators Manual

PROGRAMMING
B–62764EN/01
14. FUNCTIONS TO SIMPLIFY
PROGRAMMING
243
subsequent N3 block, coordinates in the X’’Y’’Z’’ coordinate system are
specified with Xp, Yp, and Zp. The X’’Y’’Z’’ coordinate system is called
the program coordinate system.
If (Xp, Yp, Zp) is not specified in the N2 block, (Xp, Yp, Zp) in the N1
block is assumed to be the center of the second rotation (the N1 and N2
blocks have a common center of rotation). If the coordinate system is to
be rotated only once, the N2 block need not be specified.
y
Example) G68 Xx
0
Yy
0
Zz
0
I0 J0 K1 Rα ;
G68 I1 J0 K0 Rβ ;
Z
Y
X
O(x
0
,y
0
,z
0
)
Z"
Z’
Y"
Y’
α
P (x, y, z)
z
β
β
X, Y, Z : Workpiece coordinate system
X’, Y’, Z’: Coordinate system formed after the first conversion
X”, Y”, Z” : Coordinate system formed after the second conversion
α : Angular displacement of the first rotation
β : Angular displacement of the second rotation
O (x
0
, y
0
, z
0
): Center of rotation
P (x, y, z) : Coordinates in the X’’Y’’Z’’ coordinate system (program
coordinate system)
x
α
If one of the following format errors is detected, P/S alarm No. 5044
occurs:
1. When I, J, or K is not specified in a block with G68
(a parameter of coordinate system rotation is not specified)
2. When I, J, and K are all set to 0 in a block with G68
3. When R is not specified in a block with G68
Specify absolute coordinates with Xp, Yp, and Zp in the G68 block.
D Format error
D Center of rotation

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