okuma ops200m progmanual

CNC SYSTEM

OSP-P200M/P200MA

5-AXIS MACHINING FUNCTION INSTRUCTION MANUAL (5th Edition)

Pub. No. 5611-E-R4 (ME61-214-R5) Jan. 2011

PART 1 5-AXIS MACHINING FUNCTION

SECTION 1 ACTUAL POSITION DISPLAY...................................................2

SECTION 2 MANUAL FEED FUNCTION......................................................8

SECTION 3 TOOL CENTER POINT CONTROL.........................................20

SECTION 4 TOOL AXIAL DIRECTION TOOL LENGTH COMPENDSATION ......32

SECTION 5 TOOL SIDE COMPENSATION................................................40

SECTION 6 LEADING EDGE COMPENSATION........................................48

SECTION 7 TOOL ATTITUDE COMMAND FUNCTION .............................60

SECTION 8 TOOL POSTURE COMPENSATION FUNCTION...................72

SECTION 9 ROTARY AXIS PIVOT DISTANCE COMPENSATION FUNCTION...............................................................................81

SECTION 10 SLOPE MACHINING FUNCTION 2.........................................88

PART 2 PARAMETERS

SECTION 1 ROTARY AXIS PARAMETERS............................................. 151

PART 3 PROCEDURES FOR MEASURING AND SETTING ROTARY AXIS CENTER POSITION

SECTION 1 TWO ROTARY AXES ON THE TABLE (ROTARY C-AXIS/INCLINED A-AXIS)................................................... 158

SECTION 2 TABLE AXIS AND SPINDLE AXIS (ROTARY C-AXIS ON THE TABLE AND INCLINED A- OR B-AXIS OF THE SPINDLE) .............................................................................. 167

SECTION 3 TWO SPINDLE AXES (ROTARY C-AXIS/INCLINED B-AXIS) ................................. 180

SECTION 4 TWO TABLE AXES (ROTARY A-AXIS/INCLINED B-AXIS) . 192

Table of Contents

PART 1 5-AXIS MACHINIG FUNCTION

SECTION 1 ACTUAL POSITION DISPLAY...................................................2

1. Overview .................................................................................................................................. 2

2. ACTUAL POSITION display..................................................................................................... 2 2-1. Display of Various Types of Coordinate Systems ......................................................................... 2 2-2. Display of Status Indicator Lamp................................................................................................... 7

SECTION 2 MANUAL FEED FUNCTION......................................................8

1. Tool Axial Direction Manual Feed and Perpendicular to the Tool Axial Direction Manual Feed......... 8 1-1. Overview ........................................................................................................................................ 8

1-2. Operation ....................................................................................................................................... 9

1-3. Screen Display.............................................................................................................................10

2. Table Coordinate Manual Feed .............................................................................................. 14 2-1. Overview ......................................................................................................................................14

2-2. Operation .....................................................................................................................................15

3. Tool Nose Center Manaul Feed.............................................................................................. 16 3-1. Overview ......................................................................................................................................16

3-2. Operation .....................................................................................................................................16 4. Other Optional Functions ....................................................................................................... 18 4-1. I-MAP ...........................................................................................................................................18

4-2. Manual Gauging...........................................................................................................................18

4-3. Interactive Gauging......................................................................................................................18

4-4. Manual Angle/Circle Feed ...........................................................................................................18

5. Alarm List................................................................................................................................ 19 5-1. Alarm A.........................................................................................................................................19

5-2. Alarm D ........................................................................................................................................19

SECTION 3 TOOL CENTER POINT CONTROL.........................................20

1. Overview ................................................................................................................................ 20 1-1. Definition of the coordinate system for the table having a rotary axis ........................................21

2. Program Commands .............................................................................................................. 22 2-1. Command Format........................................................................................................................22

2-2. Program Commands in G169 Mode ...........................................................................................25 3. System Variables.................................................................................................................... 27

4. Operation in Zero Setting Screen........................................................................................... 27

5. Operation in Tool Length Offset / Cutter Radius Compensation Screen................................ 27

6. Parameters............................................................................................................................. 28

7. Optional Functions ................................................................................................................. 28

7-1. I-MAP ...........................................................................................................................................28

7-2. Real 3D Animated Simulation......................................................................................................28

7-3. Measurement Cycle.....................................................................................................................28

7-4. Collision Avoidance System ........................................................................................................28

8. Alarm List................................................................................................................................ 29 8-1. Alarm A.........................................................................................................................................29

8-2. Alarm B.........................................................................................................................................29

8-3. Alarm D ........................................................................................................................................30

8-4. Error .............................................................................................................................................31

SECTION 4 TOOL AXIAL DIRECTION TOOL LENGTH COMPENDSATION..................................................................32

1. Overview ................................................................................................................................ 32 2. Program Commands .............................................................................................................. 33 2-1. Command Format........................................................................................................................33

2-2. Program Commands in G171 Mode ...........................................................................................34

2-3. Points to be Noted .......................................................................................................................35

3. Parameters............................................................................................................................. 36 4. Alarm List................................................................................................................................ 37 4-1. Alarm A.........................................................................................................................................37

4-2. Alarm B.........................................................................................................................................38

4-3. Alarm D ........................................................................................................................................39

SECTION 5 TOOL SIDE COMPENSATION................................................40

1. Overview ................................................................................................................................ 40 2. Program Command................................................................................................................ 40 2-1. Command Format........................................................................................................................40

2-2. Tool Side Compensation Mode and Other Command Modes....................................................41

2-3. Commands during Tool Side Compensation Mode ....................................................................41

3. Tool Movement During the Tool Side Compensation ............................................................. 42 4. Parameter............................................................................................................................... 43 5. Points to be Noted.................................................................................................................. 43 6. Alarm List................................................................................................................................ 44 6-1. Alarm B.........................................................................................................................................44

SECTION 6 LEADING EDGE COMPENSATION........................................48

1. Overview ................................................................................................................................ 48 2. Program Command................................................................................................................ 49 2-1. Command Format........................................................................................................................49

2-2. Movement upon entering the leading edge compensation mode...............................................49

2-3. Movement during the leading edge compensation is on ............................................................50

2-4. Movement upon exiting the Leading Edge Compensation mode...............................................51

2-5. Compensation Direction ..............................................................................................................52

2-6. Functions forbidden while Leading Edge Compensation mode is ON.......................................53

2-7. Functions disable leading edge compensation ...........................................................................54 3. Parameter............................................................................................................................... 55 4. Alarm list ................................................................................................................................. 55

SECTION 7 TOOL ATTITUDE COMMAND FUNCTION .............................60

1. Overview................................................................................................................................. 60

2. Program Command................................................................................................................ 61 2-1. Command Format........................................................................................................................61

2-2. Parameter ....................................................................................................................................62

2-3. How to Determine Angle..............................................................................................................65 3. Alarm List................................................................................................................................ 69 3-1. Alarm A.........................................................................................................................................69

3-2. Alarm B.........................................................................................................................................69

3-3. Alarm D ........................................................................................................................................71

SECTION 8 TOOL POSTURE COMPENSATION FUNCTION...................72

1. Overview................................................................................................................................. 72 2. Procedures ............................................................................................................................. 73 2-1. Specification using parameter setting..........................................................................................74

3. Alarm List................................................................................................................................ 79

SECTION 9 ROTARY AXIS PIVOT DISTANCE COMPENSATION FUNCTION...............................................................................81

1. OVERVIEW............................................................................................................................ 81 2. Parameter Setting .................................................................................................................. 83 2-1. Pivot Distance Compensation .....................................................................................................83 2-1-1. Spindle Center.........................................................................................................................85

2-1-2. Table Center............................................................................................................................86

SECTION 10 SLOPE MACHINING FUNCTION 2.........................................88

1. Overview ................................................................................................................................ 88 2. Slope Coordinate Conversion Command .............................................................................. 89 2-1. Overview ......................................................................................................................................89 2-2. Program command ......................................................................................................................90 2-2-1. Euler angles ............................................................................................................................91

2-2-2. Roll - Pitch - Yaw Angles.........................................................................................................92

2-2-3. 3 Points ...................................................................................................................................93

2-2-4. 2 Vectors .................................................................................................................................94

2-2-5. Projection ................................................................................................................................95

2-2-6. Tool Axis Direction...................................................................................................................96

2-2-7. Rotary Center Axis ..................................................................................................................98

2-2-8. X, Y, Z-axis ..............................................................................................................................99

2-2-9. Slope Cancel.........................................................................................................................100

2-2-10. G codes and mnemonic codes used during slope coordinate conversion........................101

2-2-11. Upper limit restoration (M52) ..............................................................................................102

2-2-12. axis command cancel .........................................................................................................102

2-2-13. pulse handle override..........................................................................................................102 2-3. Screen display ...........................................................................................................................103 2-3-1. Current position display ........................................................................................................103

2-3-2. Shift amount display..............................................................................................................103 2-4. Coordinate conversion in the manual operation mode .............................................................103

2-5. Program example ......................................................................................................................104 2-5-1. Usage example of Euler angle .............................................................................................104

2-5-2. Usage example of 3 points ...................................................................................................105 2-6. Parameter setting.......................................................................................................................106 2-6-1. Slope machining parameter..................................................................................................106

2-6-2. NC optional parameter (slope machining function) ..............................................................108 2-7. Alarm List ...................................................................................................................................109 2-7-1. Alarm B..................................................................................................................................109

3. Slope Indexing command..................................................................................................... 112 3-1. Overview .................................................................................................................................... 112

3-2. Indexing example for each machine type.................................................................................. 113 3-2-1. Two table axes type .............................................................................................................. 113

3-2-2. Table and spindle type .......................................................................................................... 113

3-2-3. Two spindle axes type........................................................................................................... 114

3-3. Command format (G467)........................................................................................................... 115

3-4. Slope indexing operation and program sample ........................................................................ 115 3-4-1. G467 P0 ................................................................................................................................ 115

3-4-2. G467 P1 ................................................................................................................................ 117

3-5. System variable ......................................................................................................................... 119

3-6. Parameter ..................................................................................................................................120 3-6-1. Rotary axis indexing range (NC axis) ...................................................................................120

3-6-2. Rotary Axis Indexing Range (Attachment) ...........................................................................122

3-6-3. Rotary Axis Indexing .............................................................................................................124

3-7. How to choose the indexing angle ............................................................................................125

3-8. Alarm List ...................................................................................................................................127 3-8-1. Alarm B ....................................................................................................................................................................................127

4. I-MAP function for Slope ...................................................................................................... 128 4-1. Overview ....................................................................................................................................128 4-1-1. Features...................................................................................................................................................................................128

4-2. Loading the slope pattern selection screen...............................................................................130

4-3. Operation on the slope pattern selection screen.......................................................................133

4-3-1. Pattern selection ...................................................................................................................133

4-3-2. Data setting ...........................................................................................................................135 4-4. Setting item and program format on screens of “Slope (G469)”...............................................136 4-4-1. Euler Angles ..........................................................................................................................136

4-4-2. Roll - Pitch - Yaw Angles.......................................................................................................136

4-4-3. 3 Points .................................................................................................................................137

4-4-4. 2 Vectors ...............................................................................................................................138

4-4-5. Projection ..............................................................................................................................139

4-4-6. Tool Axial Direction................................................................................................................139

4-4-7. Rotary Center Axis ................................................................................................................140

4-4-8. XYZ Axis................................................................................................................................140

4-4-9. Slope Cancel.........................................................................................................................141

4-4-10. Slope Indexing ....................................................................................................................141

4-4-11. Outline explanation of messages........................................................................................142 4-4-12. Supplementary note............................................................................................................143

4-5. Setting item and program format on screens of “Slope (G69)”.................................................144 4-5-1. Slope (G69)...........................................................................................................................144 4-5-2. Slope Cancel (G68) ..............................................................................................................145

4-5-3. Outline explanation of messages .........................................................................................145

4-5-4. Supplementary note..............................................................................................................145 4-6. Convert.......................................................................................................................................146 4-6-1. Conversion example .............................................................................................................146

4-6-2.Supplementary note...............................................................................................................149 _Toc278589520

PART 2 PARAMETERS

SECTION 1 ROTARY AXIS PARAMETERS............................................. 151

1. ROTARY AXIS PARAMETERS............................................................................................ 151 1-1. Rotary Axis Attribute...................................................................................................................151

1-2. Rotation Center..........................................................................................................................154

1-3. Pivot Distance Compensation ...................................................................................................156 _Toc278589526

PART 3 PROCEDURES FOR MEASURING AND SETTING ROTARY AXIS CENTER POSITION

SECTION 1 TWO ROTARY AXES ON THE TABLE (ROTARY C-AXIS/INCLINED A-AXIS)................................................... 158

1. OVERVIEW.......................................................................................................................... 158 2. MEASURING ROTARY AXIS CENTER POSITION ............................................................ 158 2-1. Measuring the Position of the C-axis Rotation Center ..............................................................159

2-2. Measuring the Position of the A-axis Rotation Center ..............................................................160

3. SETTING ROTARY AXIS PARAMETERS........................................................................... 162 3-1. Setting Values on the Pivot Distance Compensation Display...................................................163

3-2. Setting Values on the Rotation Center Display .........................................................................165

SECTION 2 TABLE AXIS AND SPINDLE AXIS (ROTARY C-AXIS ON THE TABLE AND INCLINED A- OR B-AXIS OF THE SPINDLE)...................... 167

1. OVERVIEW.......................................................................................................................... 167 2. MEASURING ROTARY AXIS CENTER POSITION ............................................................ 168 2-1. Measuring the Position of the C-axis Rotation Center ..............................................................169

2-2. Measuring the Position of the A-axis Rotation Center (MILLAC-800VH, etc.) .........................170

2-3. Measuring the Position of the B-axis Rotation Center (MILLAC-1000VH, etc.) .......................172

3. SETTING ROTARY AXIS PARAMETERS........................................................................... 174 3-1. Setting Values on the Pivot Distance Compensation Display...................................................175


SECTION 3 TWO SPINDLE AXES (ROTARY C-AXIS/INCLINED B-AXIS) ................................. 180

1. OVERVIEW.......................................................................................................................... 180 2. MEASURING ROTARY AXIS CENTER POSITIONS.......................................................... 180 2-1. Measuring the B-axis Rotation Center Position ........................................................................181

2-2. Measuring the C-axis Rotation Center Position ........................................................................184 3. SETTING ROTARY AXIS PARAMETERS ........................................................................... 187 3-1. Setting Values on the Pivot Distance Compensation Display...................................................188


SECTION 4 TWO TABLE AXES (ROTARY A-AXIS/INCLINED B-AXIS).................................................................................. 192

1. OVERVIEW.......................................................................................................................... 192 2. MEASURING ROTARY AXIS CENTER POSITION ............................................................ 192 2-1. Measuring the Position of the A-axis Rotation Center ..............................................................193

2-2. Measuring the Position of the B-axis Rotation Center ..............................................................195 3. SETTING ROTARY AXIS SYSTEM PARAMETERS ........................................................... 197 4. SETTING ROTARY AXIS PARAMETERS........................................................................... 198 4-1. Setting Values on the Rotary Axis Attribute Display..................................................................199

4-2. Setting Values on the Pivot Distance Compensation Display...................................................200


- 1 -

PART 1 5-AXIS MACHINING FUNCTION

- 2 -

SECTION 1 ACTUAL POSITION DISPLAY

1. Overview This manual explains about the displays of coordinate values and status indicators used in the 5-axis

machining functions in the AUTO, MDI, and MANUAL modes.

2. ACTUAL POSITION display

2-1. Display of Various Types of Coordinate Systems

(1) Actual Position Display of Current Coordinate System

Fig. 1-1 Actual position display screen of current coordinate system

The second page of the actual position display under the operation mode screen shows the coordi-

nate values of the currently selected coordinate system.

The current position display function is available for the following types of coordinate systems:

- Local coordinate system

- Work coordinate system

- Slope coordinate system

- Slope local coordinate system

- Table coordinate system

You can check which coordinate system is currently selected in the comment next to the ACT POSI

and DISTANCE at top of the screen.

- 3 -

Fig. 1-2 Local coordinate system Fig. 1-3 Work coordinate system

Fig. 1-4 Slope coordinate system Fig. 1-5 Slope local coordinate system

Fig. 1-6 Table coordinate system

The display shows the coordinate values of up to 6 axes including linear and rotary axes in one page.

For X, Y, and Z-axes, coordinate system is converted and displayed. For rotary and the additional lin-

ear axes, the current positions of the work coordinate system are to be displayed.

- 4 -

(2) Actual Position of Table Coordinate System

Fig. 1-7 Actual Position of Table Coordinate System

The display shows the coordinate values of the table coordinate system and work coordinate system

in one page. The current position and distance to the target are shown for both coordinate systems.

The rotary axis is only on the Table side and it is shown in the work coordinate system. Indicator

lamp saying T. C. P. C. that indicates that the system is in the tool center point control mode is

shown at the right top, to the left of the page number.

[Supplement]

1) This screen appears when the following conditions are met:

- Tool nose point control, manual feed of tool nose center, or manual feed of table basic coordi-

nate is effective.

- The machine is constructed so that the table has a rotary axis.

- 5 -

(3) Actual Position, APA, Shift Amount, Target Point, and Distance to Target at a Glance

Fig. 1-8 Display Screen for Actual Position of Each Coordinate System, APA, Shift Amount, Target Point, Dis-

tance Remaining to Target, etc.

Following items will be on the display according to the set specification.

Function Tool axial direction manual feed

Tool Center Point Control

Tool Nose Center Manual Feed

Table Coordinate Manual Feed

MANUAL SHIFT AMOUNT (CURRENT) Current Position (Table Coordinate)

MANUAL SHIFT AMOUNT (TOTAL) Distance Remaining to Target (Table Coordinate) Items

RELATIVE ACUTUAL (CURRENT) POSITION (TOOL AXIAL DIRECTION)

-

[Supplement]

1) The above items appear when any of the followings is activated: the tool center point control,

tool axial direction manual feed, tool nose center manual feed, or table coordinate manual feed.

- 6 -

(4) Enlarged Display of Current Position

Press the ACT POSI ENLARGE function under the operation mode to show the pop-up functions below. Note that pop-up functions differ from the ones for the standard specifications with different optional specifications.

1) Standard specifications

Fig. 1-9 Function Menu for the Standard Specifications

2) For TOOL CENTER POINT CONTROL, TOOL NOSE CENTER MANUAL FEED, and TABLE

COORDINATE MANUAL FEED The [F2] (ACT.POSI (T BASE)) key appears for the function menu of the tool center point control, tool nose center manual feed, or table coordinate manual feed. The [F2] (ACT.POSI (LOCAL)) and [F3] (ACT.POSI (ACTUAL)) keys appears in the extended func-tion menu.

Fig. 1-10 Function Menus of Tool Center Point Control, Tool Nose Center Manual Feed, and Table Coor-

dinate Manual Feed

3) For TOOL AXIAL DIRECTION MANUAL FEED [F4] (RELATIVE TOOL DIR), [F5] (POSI SET TOOL REL), and [F6] (M-SHIFT TOOL DIR) appear in the extended menu respectively.

Fig. 1-11 Function Menus of Tool Axial Direction Manual Feed

4) For SLOPE MACHINING The [F6] (SLOPE SHIFT) key appears in the function menu. The [F1] (SHIFT ON/OFF) key appears in the extended function menu.

Fig. 1-12 Function Menus of Slope Machining

Function menu display differs with different combination of the functions above.

- 7 -

2-2. Display of Status Indicator Lamp

Fig. 1-13 Display of Status Indiactor Lamp

Status indicator lamps available are “CO. CONVET” (slope) for coordinate system is being converted,

“3D FEED” (table coordinate manual feed, tool axial direction manual feed, and tool nose center manual

feed) and “T.C.P.C” that indicates tool center point control is on.

Manual Interrupt OFF

Manual Interrupt ON

NC reset status Off (Nothing on the display)

During G69 and G469

CO. CONVET

During G169 T.C.P.C

AUTO, MDI operation mode

Program in pro-gress

Others Off (Nothing on the display)

“CO. CONVET” or “3D FEED” ap-pears according to the setting of the angle and 3D FEED switches.

Manual operation mode “CO. CONVET” or “3 D FEED” appears according to the setting of the angle and 3D D FEED switches.

Note that the status indicator display does not change with ON or OFF status of the pulse override in the

AUTO or MDI operation mode.

- 8 -

SECTION 2 MANUAL FEED FUNCTION

1. Tool Axial Direction Manual Feed and Perpendicular to the Tool Axial Direction Manual Feed

1-1. Overview This function is designed for machines with a rotary axis on the spindle side. The function enables man-ual rapid traverse, manual cutting feed, and manual pulse handle feed of X, Y, and Z-axes when Z-axis is the tool axial direction. This manual feed function is effective in the index attachments mounted in the double-column machining center, such as angular attachment, universal attachment, and swivel head.

(1) Example of a Machine with A-axis on the Spindle Side The diagram below shows the relationship between A-axis angle and its feed direction. It is how it ap-pears when you look at the negative direction (-) of the X-axis from the positive (+) direction of the X-axis. The positive (+) and negative (-) signs are the moving directions when Z-axis is selected for the tool axial direction manual feed. Moving direction changes with A-axis angle also when Y-axis (the di-rection perpendicular to the tool spindle) is selected for the tool axial direction manual feed. X-axis is not dependent on the A-axis angle and it is perpendicular to this document.

＋

－

＋

－

A-120°

A+30°

A-90°

A0°

Y

Z YZ

Y

Z

Y

Z

X

Fig. 2-1 (Spindle side) A-axis Angle and Manual Feed Direction

The multiple rotary axes on the spindle side also move in the tool axial direction and the direction per-pendicular to the tool axial direction according to their indexed angle.

- 9 -

1-2. Operation (1) MANUAL Operation Mode

Turn on the 3D FEED switch, select the axis out of X, Y, or Z-axis with the MANUAL FEED AXIS SELECTION key on the machine panel or with the manual pulse handle axis selection switch, and move the axis in the tool axial direction or direction perpendicular to it. * The 3D FEED switch is displayed as “3D” on the operation panel depending on models. Regard the

description of 3D FEED below as 3D in that case.

(2) AUTO/MDI Operation Mode

- Pulse Handle Override If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear. While this alarm is ON, it is still possible to manually feed the axis in the tool axial direction or in the direction perpendicular to it. However, note that “1336 Alarm-A The manual shift remains. Be warned axis move.” will be raised if G169 or G171 mode is ON.

- Manual Interrupt Manual feed in the tool axial direction and the direction perpendicular to it are possible while manual interrupt mode is ON. However, if the shift amount (total) remains (≠0) when the manual interruption is turned off in G169/G171 mode, “1336 Alarm-A The manual shift remains. Be warned axis move” appears. Make sure to set the shift amount (total) to zero manually or with a sequence restart switch before you exit the manual interrupt mode. (For details, see “TOOL CENTER POINT CONTROL” and “TOOL AXIAL DIRECTION TOOL LENGTH COMPENSATION” in this manual)

[CAUTION] If the machine has rotary axes on the spindle and table sides, the axial movement of X, Y, and Z-axes fed with the 3D FEED switch differs according to the NC optional parameter bit settings below. Turn the parameter bit OFF to enable the tool axial manual feed and perpendicular to the tool axial direction manual feed.

NC Optional Parameter Bit

No. bit Description Initial

status

78 6

Specifies the coordinate system which will be selected when the three fundamental axes are fed manually after the 3D FEED switch is turned on on the machine with a rotary axis on the spin-dle side and table side respectively.

Selects the table base co-ordinate sys-tem.

Selects the tool axis coordinate system.

- 10 -

1-3. Screen Display (1) ACTUAL (CURRENT) Position, APA, Shift amount, Traget position, and Distance remaining to the

target at a Glance

Feed the page of the ACTUAL (CURRENT) POSITION screen under the operation screen to see the informa-tion on the following items:

- MANUAL SHIFT AMOUNT (CURRENT)

- MANUAL SHIFT AMOUNT (TOTAL)

- RELATIVE CURRENT POSITION (TOOL AXIAL DIRECTION) MANUAL SHIFT AMOUNT (CURRENT) and MANUAL SHIFT AMOUNT (TOTAL) will be highlighted in blue when you turn the manual operation mode or manual interrupt ON and the feed in the tool axial di-rection and the direction perpendicular to it become valid.

When manual feed in the tool axial direction and the direction perpendicular to it are valid:

Fig. 2-2 When manual feed in the tool axial direction and the direction perpendicular to it are valid

- 11 -

(2) Enlarged Current Position Window Following function keys will appear in the pop-up function opened by [F2] (ACT POSI ENLARGE) under the operation mode screen.

- TOOL DIRECTION RELATIVE ACTUAL (CURRENT) POSITION

- POSITION SET (TOOL)

- TOOL SHIFT ON/OFF

Tool Direction Relative Actual (Current) Position Function Press the TOOL DIR. RELATIVE ACTUAL POS. function key to open the TOOL DIRECTION RELATIVE ACTUAL POSITION window. Meanwhile, [F5] (POSI SET TOOL REL).

Fig. 2-3 TOOL DIR. RELATIVE ACTUAL POS. Screen

The window shows the RELATIVE ACTUAL POSITION of the coordinate system whose Z-axis is the spindle axis. Set the zero point for this coordinate system in the POSITION SET window. Press the POSITION SET function key to open the window.

- 12 -

Position Set (Tool) Function Press the [F5] (POSI SET TOOL REL) key to open the “POSITION SET” window.

Fig. 2-4 POSITION SET Window

When you start the manual interrupt, you can check the distance remaining to the target when you feed the axis in the tool axial direction by setting the relative current position of the tool axial direction zero in this window. If the input data were recognized as numeric data, “Error 5343 Numerical data” will occur. If the input data were out of the valid numeric data range, “Error 5209 Input data overflow” will occur. Relative positions will be set for X, Y, and Z-axes when a value is given for ALL AXIS. Values used for the relative positions for the tool axial direction, the normal relative positions, and the current posi-tion of the slope relative position will not be shared.

- 13 -

Tool Shift ON/OFF Function Press the function key to open the M.SHIFT TOOL DIR. CURRENT window. Turn the manual operation mode or manual interrupt ON. The title on top of the window turns yellow if the manual feed in the tool axial direction or the direction perpendicular to it is valid.

Fig. 2-5 M. SHIFT TOOL DIR. CURRENT Window

- 14 -

2. Table Coordinate Manual Feed

2-1. Overview Table coordinate manual feed function is designed for machines with a rotary axis on the table side. The function enables manual rapid traverse, manual cutting feed, and manual pulse handle feed of X, Y, and Z-axes for the datum coordinate system of the tilted table or the rotary table.

This function is intended for the NC rotary axis (min. input increment: 0.001° or 0.0001°).

(1) Example of a Machine with C-axis on the Table Side Following diagram shows the relationship between C-axis angle and its moving direction. It is how it appears when you look at the negative direction (-) of the Z-axis from the positive (+) direction of the Z-axis. Table Coordinate System rotates according to the C-axis’s indexed angle. In the example below, both X- and Y-axes move simultaneously if you attempt to move the X- or Y-axis of the table coordinate system. Z-axis is independent from the C-axis angle and it is perpendicular to this document.

C軸旋回中心

テーブル基準座標系

ワーク座標系原点

Ｙ

Ｘ

Ｙ

Ｘ

機械座標系

Ｙ

Ｘ

X軸操作

+

-

+

-

Y軸操作

Fig. 2-6 Table Side C-axis Angle and Manual Feed Direction

For machines with multiple rotary axes on the table side, their axial movements are to be according to the table coordinate system determined by their indexed angles.

Center of C-axis Rotary

X-axis Operation

Y-axis Operation

Table Coordinate System

Work Coordinate-System

Machine Coordinate System

- 15 -


Turn 3D FEED switch ON and select the desired axis out of X, Y, and Z-axis with the manual feed axis se-lection key on the machine operation panel or manual pulse handle axis selection switch. The selected axis will move based on the table coordinate system in manual rapid traverse, manual cutting feed, or manual pulse handle feed.


Table coordinate manual feed moves in the AUTO/MDI operation mode as follows.

- Pulse Handle Override If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear. While this alarm is ON, it is still possible to feed the axes in table coordinate manual feed. However, note that “1336 Alarm-A The manual shift remains. Be warned axis move.” will be raised if G169 or G171 mode is ON.

- Manual Interrupt

Manual feed in the table coordinate is possible while manual interrupt mode is ON. However, if the shift amount remains (≠0) when the manual interruption is turned off in G169/G171 mode, “1336 Alarm-A The manual shift remains Be warned axis move” appears. Make sure to set the shift amount (total) to zero manually or with a sequence restart switch before you exit the man-ual interrupt mode. (For details, see “TOOL CENTER POINT CONTROL” and “TOOL AXIAL DIRECTION TOOL LENGTH COMPENSATION” in this manual.)

[CAUTION] If the machine has rotary axes on the spindle and table sides, the axial movement of X, Y, and Z-axes fed with the 3D FEED switch differs according to the NC optional parameter bit settings below. Turn the parameter bit ON to enable the table coordinate manual feed.

NC Optional Parameter Bit

No. bit Description Initial status

78 6

Specifies the coordinate system which will be selected when the three fundamental axes are fed manually after the 3D FEED switch is turned on on the machine with a rotary axis on the spin-dle side and table side respectively.

Selects the table base co-ordinate sys-tem.


- 16 -

3. Tool Nose Center Manaul Feed

3-1. Overview Tool nose center manual feed function is designed for machines with rotary axes on the spindle and table sides. The function enables the spindle or table rotate around the tool nose center.

(1) Rotary axis on the spindle side

Spindle rotates around the tool nose center.

Fig. 2-7 Movement of the tool nose center manual feed

(with the rotary axis on the spindle side)

(2) Rotary axis on the table side Table rotates keeping the tool nose center position seen from the table (work). The tool appears tilting around tool nose center if you see the tool by reference to the table (work).

Fig. 2-8 Movement of the tool nose center manual feed

(with the rotary axis on the table side)


Turn 3D FEED switch ON and select the desired axis out of A, B, and C-axis with the manual feed axis se-lection key on the machine operation panel or manual pulse handle axis selection switch. The selected axis will rotate around on the tool nose center in manual rapid traverse, manual cutting feed, or manual pulse handle feed.


Tool nose center manual feed moves in the AUTO/MDI operation mode as follows.

- Pulse Handle Override If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear. While this alarm is ON, manual pulse handle would not work.

- 17 -

- Manual Interrupt

Manual feed in the table coordinate is possible while manual interrupt mode is ON. However, if the shift amount remains (≠0) when the manual interruption is turned off in G169/G171 mode, the “1336 Alarm-A The manual shift remains. Be warned axis move” appears. Make sure to set the shift amount (total) to zero manually or with a sequence restart switch before you exit the manual interrupt mode. (For details, see “TOOL CENTER POINT CONTROL” and “TOOL AXIAL DIRECTION TOOL LENGTH COMPENSATION” in this manual.)

[CAUTION]

■ Tool Length Compensation If the machine has a rotary axis on the spindle side, the system finds the tool nose position based on the distance from the center of the rotation of the rotary axis to the spindle nose and the tool length compensation amount. The found point will be the center of the tool nose center feed movement. Therefore, make sure that proper tool compensation number is selected for the spindle tool even in the manual operation. Tool compensation numbers can be specified in the program command (H) in the AUTO or MDI operation. The number selected there will be kept even after the mode is switched to manual mode.

■ Stroke End Limit Linear axes are to move along with the rotary axis in the tool nose center manual feed. When a linear axis is about to reach the stroke end limit, it stops in the limit vicinity and the rotary axis movement also stops.

■ Speed Limit If rotary radius is large in the tool nose center manual feed, the linear axes travel distance becomes longer. If the rotary axis feedrate is high, the linear axis feedrate also becomes high. To avoid the linear axis feedrate to be too fast, the rotary axis feedrate limit is controlled based on the rotary ra-dius and the linear axis feedrate limit. In some cases, the rotary axis feedrate limit determined here may be lower than the feedrate set by the command.

- 18 -

4. Other Optional Functions

4-1. I-MAP By using the CAL key for the I-MAP PLAYBACK function, it is possible to acquire the actual position of the currently selected work coordinate system. With the machine having rotary axes on the table, the current position in the table coordinate system is acquired when manual axis feed in the table coordi-nate system is effective or the G169 mode is selected with the program command.

4-2. Manual Gauging Note that axis feed will be tool axial direction manual feed/table coordinate manual feed/tool nose center manual feed if the 3D FEED switch is ON during manual gauging.

4-3. Interactive Gauging If the +SINGLE, -SINGLE, or AUTO switch on the operation panel is ON, tool length gauging skip or work gauging skip will NOT depend on the 3D FEED switch ON/OFF status. Turn on the 3D FEED switch for manually moving the probe close to the work in the tool axial direction manual feed, table coordinate manual feed, or tool nose center manual feed.

4-4. Manual Angle/Circle Feed 3D FEED function is not supported for manual angle/circle feed.

- 19 -

5. Alarm List

5-1. Alarm A 1336 The manual shift remains. Be warned axis move.

The shift amount exists in G169 mode or G171 mode.

[Character-string]

None

[Code]

None

[Probable Faulty Locations]

None

[Measures to Take]

1: Cancel the shift amount (total).

2: Change the alarm level to warning by setting data at the NC optional parameter (bit) No.78 bit4.

[Related Specifications]

Tool center point control, Tool axial direction tool length compensation

5-2. Alarm D 4337Tool nose center man-feed func is invalid

Both 3D axis feed switch and pulse handle override were turned on in automatic or MDI operation.

[Character-string]

None

[Code]

None


None

[Measures to Take]

1: Turn off the 3D axis feed switch or pulse handle override.


Tool nose center manual feed

4338 The manual shift remains. Be warned axis move.


[Character-string]

None

[Code]

None


None

[Measures to Take]

1: Cancel the shift amount (sum).


Tool nose control, tool length offset in tool axis direction

- 20 -

SECTION 3 TOOL CENTER POINT CONTROL

1. Overview This function is applicable to the 5-axis machining center having three linear axes X, Y, and Z and two rotary axes. The function controls the movements of each axis by adding the tool length offset amount so that the tool center point moves along the workpiece through the tool path specified by the axis movement commands. It also controls the feedrate of each axis so that tool center point moves along the workpiece at the specified feedrate. The rotary axis configuration of 5-axis machining center can be classified into the following three cases: the spindle has two rotary axes, the table has two rotary axes, and the spindle and the table have one rotary axis.

Fig. 3-1 Rotary axis configuration in relation with the tool center point control

The commands G00 (positioning), G01 (linear interpolation), and G02/G03 (circular interpolation) can be used in the tool center point control mode.

If the rotary axis command and the linear axis command are simultaneously specified to the rotary axis on the spindle side with G01 (linear interpolation), the machine behaves as follows.

When the X-axis and B-axis commands are specified simultaneously with G01

B軸動作

X軸動作

指令点

Fig. 3-2 Movement with the rotary axis on the spindle side

B-axis movement

X-axis movement

Command point

One rotary axis each for spin-dle and table

Spindle having two rotary axes Table having two

rotary axes

- 21 -

If the rotary axis command and the linear axis command are simultaneously specified to the rotary axis on the table side with G01 (linear interpolation), the machine behaves as follows.

When Y-axis and A-axis commands are specified simultaneously with G01

A軸動作

Y軸動作

指令点

Fig. 3-3 Movement with the rotary axis on the table side

1-1. Definition of the coordinate system for the table having a rotary axis When the table side rotary axis is rotated, the work installed on the table will also rotate. But if the coordinate system fixed to the table is defined, the coordinate system for the table (work) does not move even if the table rotates. Such a coordinate system is called “Table-based coordinate sys-tem.” This coordinate system is based on the work coordinate system for the table located in “0°” position (0° in the machine coordinate system). In the tool center point control, program commands are issued to this table-based coordinate system.

The coordinate system rotates as the table rotes.

=> Table-based coordinate system

Fig. 3-4 Table-based coodinate system

For the machine with a spindle having two rotary axes, the table based coordinate system is the same with the work coordinate system because the table does not rotate.

The tool center point path viewed from table (work) is linear.

Command point

Y-axis movement

A-axis movement

Work

Work coordinate system Work coordinate system

Table-based coordinate sys-tem

Original state

- 22 -

2. Program Commands

2-1. Command Format G169 P_H_.................................. Tool center point control mode ON

P_ : G170 P_ ..................................... Tool center point control mode OFF

P: Position Commands (for X, Y, Z, A, B, and C) The A, B, and C commands are used to specify the inclination of the tool with regard to the work in the position (end of block) specified with X, Y, Z command. Specify the rotary axis provided for the machine among A, B, and C. Then, specify the angle of currently selected work coordinate system. The X, Y, and Z commands are used to specify the tool nose position in the currently se-lected work coordinate system (table-based coordinate system for the rotary axis on the table). If the rotary axis is on the spindle, the machine controls the axes so that the in-clined tool nose position is equal to the specified position.

H: Tool length offset number (1 to the number of offset data sets)

The feed mode when the G169 command is specified shall be G00 or G01. Axis feed mode in the G169 block is the feed mode specified when the G169 command is specified. Axis in this block is also fed under the tool center point control.

In G169 mode, the machine interpolates the rotary axis movement, and controls the linear axis

movement so that the tool nose path seen from the work match the path in the specified feed

mode and that the feedrate of the tool center point with regard to the work is equal to the speci-

fied feedrate.

- The position commands are omissible.

- If the tool length offset number is omitted, the currently selected tool length offset number will be automatically adopted.

- If a position command and a tool length offset number are specified in the G169 block, the tool nose will be positioned in a position which the tool length offset value is added by the feed mode selected at that time (G00 or G01). An alarm occurs if the feed mode is not G00 or G01.

- The tool length offset number will not be cleared by NC reset.

- The tool length offset number will be backed up when the power gets shut off. The backed up number will be automatically selected when the power is supplied again.

- If the G169 command is specified when the tool length offset number is 0 (H0), an alarm will result.

- HA, HB, and HC are treated as an H command.

- If the work zero number is “0” (work coordinate system = machine coordinate system), the ma-chine controls the axis on an assumption that there is a table coordinate system in the position where the machine coordinate system is rotated by the angle of the table rotary axis.

- G169 command can be specified in G91 (incremental command) mode. However, immediately after specifying G169, specify the axis movement command to all the axes in G90 (absolute command) mode.

Notes

Immediately after specifying the G169 command, specify the axis movement command to all the axes (five axes) simultaneously in the G90 (absolute command) mode in order to establish the position in the work (-based) coordinate system.

- 23 -

Example: A- and C-axes are rotary axes.

G169X0.Y0.Z500.A0.C0.H1

:

or

G169H1

X0.Y0.Z500.A0.C0.

: Before performing tool center point control with the G169 command, specify the rotary axis

unclamp command. A-axis unclamp: M11 B-axis unclamp: M21 C-axis unclamp: M27

Also when performing machining that involves rotary axis movement with the Super-NURBS control mode ON, specify the rotary axis unclamp command in the same way.

At the end of machining under the tool center point control or the Super-NURBS control, cancel the rotary axis unclamp command.

A-axis unclamp cancel: M10 B-axis unclamp cancel: M20 C-axis unclamp cancel: M26

* Some machine models use the commands other than what are described above. For the ro-

tary axis clamp/unclamp command, refer to the instruction manual separately issued for each machine model.

If there remains shift amount (≠ 0) when G169 is specified, the shift amount will be canceled.

In this same way, if there remains the shift amount (≠ 0) when G170 is specified, the shift amount will be canceled.

Pulse handle override

- Manual tool center point feed does not work with pulse handle override. If the pulse handle override and 3D axis feed ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear on the display. While this alarm is ON, the rotary axis movement by pulse handle is disabled.

- If manual feed in tool axis direction by pulse handle override or manual feed in table-based coordinate system is attempted in G169 mode, the “1336 Alarm-A The manual shift remains. Be warned axis move” will occur. Furthermore, the pulse input with the 3D FEED switch OFF causes the alarm A.

Manual interruption

- In the manual interruption mode, manual feed in tool axis direction, manual feed in table coor-dinate system, and manual feed of tool nose center are all possible. However, if there remains the shift amount (≠ 0) when the manual interruption in G169 mode is turned off, the “1336 Alarm-A The manual shift remains. Be warned axis move” will occur.

- 24 -

The alarm A caused by the above-mentioned pulse handle override or manual interruption can

be changed to the alarm D by turning on the NC optional parameter (bit) No.78 bit 4. However, even when the rotary axis is moved by the program command in G169 mode when there re-mains a shift amount, the shift direction will not change.

Fig. 3-5 In case of the spindle rotary axis rotated by the program commands in G169 mode when there

remains a shift amount.

XY

X

Y

XY

Fig. 3-6 In case of the table rotary axis rotated by the program commands in G169 mode when there remains a shift amount.

B-axis position after rotation

B-axis rotated in G169 mode after shift input

Programmed tool path

Shifted in Z direc-tion by manual feed in tool axis direction

B-axis rotated in G169 mode


Not the position used for rotation

around the shift start point

Program commandposition

Tool nose position after shifting

Shifted in X direction by feed in work-based coordinate system

C-axis rotated in G169 mode after shift input

Tool nose position after C-axis rotation

C-axis rotation in G169 mode

Table-based coor-dinate systemTable-based coor-

dinate system

Not the position on the line

extended from swing radius

- 25 -

2-2. Program Commands in G169 Mode The other G codes and mnemonic commands that can be specified in G169 mode are as follows.

Specifiable G codes and mnemonic commands

- G00 (Positioning)

The tool nose always moves linearly regardless of whether the linear interpolation at rapid

traverse is effective or not.

When this command block includes rotary axis movement, movement beyond the travel end

limit causes an alarm A. Special operation outside the travel limit is impossible.

- G60 (Unidirectional positioning)

This command can be specified, but it operates as G00 and does not perform unidirectional

positioning.

- G01 (Linear interpolation)

The tool nose moves linearly so that the tool path determined according to the workpiece

shape.

- G02/G03 (Circular interpolation)

These G codes are usable for circular interpolation and helical cutting. If a rotary axis com-

mand is specified with any of these codes simultaneously, an alarm B occurs.

3D circular interpolation command cannot be specified.

- G04 (Dwell)

- G11 (Parallel / Rotational shift of a coordinate system)

Converts the table (-based) coordinate system into the local coordinate system.

- G15/G16 (Work coordinate system selection)

Immediately after specifying this command, specify the first axis movement command to all the

axes (5 axes) in G90 mode in order to define the coordinate values.

- G17/G18/G19 (Plane selection)

Selects a plane from the table (-based) coordinate system.

- G22 (Programmable limit)

Checks the travel limit in the work coordinate system.

- G51 (Enlargement and reduction of geometry)

Geometry is enlarged or reduced in the table (-based) coordinate system.

- G61 (Exact stop mode)

- G09 (Exact stop, one shot)

- G90/G91 (Absolute / incremental commands)

- G94 (Feed per minute)

- G131 (Super-NURBS control mode ON)

- MITCAN (Manual shift amount cancel)

- CALL (Sub program call)

- IF/GOTO (Branching command)

- Coordinates calculation function

Coordinates are calculated in the table (-based) coordinate system.

- Area machining function

This command is regarded as the command in the table (-based) coordinate system.

- G code macro

- MSG

- COPY/COPYE (Copy function)

Copies the figure in the table (-based) coordinate system.

- 26 -

The following commands cause an alarm if specified in the G169 mode.

- M6 (Tool change command)

- G30 (Home position command)

- G41/G42 (Cutter radius compensation)

- G45/G46 (Tool side offset)

- G47 (Leading edge offset)

- G54 to G59 (Tool length offset) (with the rotary axis on the spindle side)

- G69, G469 (Setting a slope coordinate system)

- G467 (Slope indexing)

- Fixed cycles

- G171 (Tool length offset in tool axis direction ON)

Alarm occurs also in the following cases.

- The tool length offset number cannot be changed with H command in G169 mode. An alarm B

occurs if attempted.

- Tool change command cannot be specified in G169 mode. It causes an alarm B.

- Alarm B occurs if the G169 command is specified during the search by the upgraded sequence

restart function.

- Alarm B occurs if data setting in the system variables VTOFH and VZOF* is specified in G169

mode.

- 27 -

3. System Variables Under the tool center point control mode, no data can be entered in the following system vari-

ables. The alarm occurs if such a command is issued.

VZOF* (*: axis name) .................Work zero

VTOFH .......................................Tool length offset data

2213 Alarm-B Program bad direct: system variable

Code: 1 The command for writing work zero was issued in the tool center point con-

trol mode (G169).

2 The command for writing tool length offset data was issued in the tool cen-

ter point control mode (G169).

4. Operation in Zero Setting Screen In the tool center point control mode, it is impossible to change the offset value (by SET, ADD, CAL

function) of the currently selected work zero number.

Error 5285 Set impossible

Code: 3 Attempt was made to change the currently selected work zero offset in the

tool center point control mode.

5. Operation in Tool Length Offset / Cutter Radius Compensation Screen In the tool center point control mode, it is impossible to change the tool length offset value (by SET,

ADD, CAL function) of the currently selected tool length offset number.

Error 5285 Set impossible

Code: 4 Attempt was made to change the currently selected tool length offset value

in the tool center point control mode (G169).

- 28 -

6. Parameters Before using this function, it is necessary to set the ROTARY AXIS PARAMETER in the parameter set-

ting mode. The default values have been set at the factory. For details, see “ROTARY AXIS

PARAMETERS” in this manual.

There are the following parameters in addition to the above.

NC optional parameter (bit)

No. bit Description Initial status

4

The initial statuses have been factory set. For details, refer to the ROTARY AXIS PARAMETER INSTRUCTION MANUAL.

Selects the alarm D.

Selects the alarm A.

78

6

Specifies the coordinate system which will be selected when the three fundamental axes are fed manually after the 3D FEED switch is turned on on the machine with a rotary axis on the spindle side and table side respectively.

Selects the table base coordinate system.


7. Optional Functions

7-1. I-MAP By using the CAL key for the I-MAP PLAYBACK function, it is possible to acquire the current position

of the currently selected table-based coordinate system. With the machine having rotary axes on the

table, the current position in the table coordinate system is acquired when manual axis feed in the ta-

ble coordinate system is effective or the G169 mode is selected with the program command.

7-2. Real 3D Animated Simulation The real 3D animated simulation is not compatible with the tool center point control function.

7-3. Measurement Cycle The tool center point control mode must be turned off (by G170) when executing the measurement cy-

cles such as automatic tool length offset or the automatic measurement.

7-4. Collision Avoidance System The interference check function of the collision avoidance system is not compatible with the tool cen-

ter point control. (For details, refer to the “COLLISION AVOIDANCE SYSTEM INSTRUCTION

MANUAL -Basic/Tutorial-” and “COLLISION AVOIDANCE SYSTEM INSTRUCTION MANUAL

-Additional Functions-”.)

- 29 -

8. Alarm List



[Character-string]

None

[Code]

None


None

[Measures to Take]


2: Change the alarm level to warning (Alarm-D) by setting data at the NC optional parameter (bit)

No.78 bit4.


Tool center point control, Tool axial direction tool length compensation

8-2. Alarm B 2213 Program bad direct: System variable

[Code]

1: The workpiece zero command is specified during the tool center point control mode (G169).

2: The tool length offset data command is specified during the tool center point control mode

(G169).

[Measures to Take]

Check the system variable.

2263 Data word: G code

[Character-string]

None

[Code]

133: The tool nose control mode (G169) was specified during the 3D coordinate conversion

(G469).

134: The 3D coordinate conversion command (G469) was specified during the tool nose con-

trol mode (G169).

161: The slope indexing command (G467) was specified during the tool nose control mode

(G169).


G code in the NC program

[Measures to Take]

Correct the program error which is specified by the alarm code displayed.

2644 Data word: G code (5-axis machining function)

[Character]

None

[Code]

1: The rotary axis is removed when G169 or G171 command is specified.

2: G169 or G171 command was specified in the tool length offset mode.

3: G169 or G171 command was specified with “0” set as the tool length offset number.

4: G169 command was specified during parallel or rotation shift (by G11, COPY).

5: G169 command was specified when expansion or reduction of the geometry is ON (G51).

6: G169 command was specified in the mirror image mode.

- 30 -

7: G169 command was specified during axial name designation (G14).

8: G169 was specified during the fixed cycle.

9: G169 was specified in the cutter radius compensation mode.

A: G169 was specified in the 3D tool offset mode.

B: G169 was specified during tool groove cutting, spindle path control, or turning cut mode.

C: G169 was specified in a mode other than G00 and G01.

D: G169 was specified in the feed-per-revolution mode or inverse time feed mode (G95, G93).

E: G169 was specified in the cylindrical side machining mode (G175).

F: G169 was specified in the 2nd tool length offset mode (G189).

10: G169 was specified in the slope coordinate system mode (G69).

11: G169 was specified in the projection drawing designation command mode (G256).

12: G169 was specified in the attachment rotation offset mode (G181 to 185).

13: G169 was specified during tool length offset in tool axis direction (G171).

101: Any angle chamfering command (G246, 249) was specified in G169 mode.

102: Tool length offset ON (G54 to G59) was specified in G169 or 171 mode.

103: An “H” command was specified in G169 mode.

104: Skip command (G31) was specified in G169 mode.

105: A fixed cycle was specified in G169 mode.

106: Tool change M code was specified in G169 mode.

107: A rotary axis (including the multi-rotation type and the limited type) was specified as a circular

interpolation command in G169 mode.

108: Work coordinate system setting command (G92) was specified in G169 mode.

109: Home position command (G30) was specified in G169 mode.

10A: Slope coordinate system mode ON (G69) was specified in G169 mode.

10B Thread cutting command (G33) was specified in G169 mode.

10C: 3D circular interpolation command (G2, G3, G172, or G173) was specified in G169 mode.

10D: Projection drawing designation command (G256) was specified in G169 mode.

10E: NURBS curve interpolation command (NURBS) was specified in G169 mode.

10F: Cutter radius compensation ON (G41, G42) was specified in G169 mode.

110: The 3D tool offset ON (G44) was specified in G169 mode.

111: Feed-per-revolution or inverse time feed (G95, G93) was specified in G169 mode.

112: Axis name designation command (G14) was specified in G169 mode.

113: Cylindrical side machining ON command (G175) was specified in G169 mode.

114: The 2nd tool length offset ON command (G189) was specified in G169 mode.

115: Attachment rotation offset command (G181-G185) was specified in G169 mode.

116: Tool groove cutting, spindle path control, or turning cut was specified in G169 mode.

118: Tool length offset in tool axis direction (G171) was specified in G169 mode.

119: Mirror image (G62) was specified in G169 mode.


Part program

[The measure against disposal]

Review the part program.

8-3. Alarm D 4337 Tool nose center man-feed func is invalid

Both 3D axis feed switch and pulse handle override were turned on in automatic or MDI operation.

[Character-string]

None

- 31 -

[Code]

None


None

[Measures to Take]

Turn off the 3D axis feed switch or pulse handle override.


Tool nose center manual feed



[Character-string]

None

[Code]

None


None

[Measures to Take]

Cancel the shift amount (total).


Tool center point control, Tool axis direction tool length offset

8-4. Error 5285 Set impossible

[Code]

3: Changing the workpiece zero offset under execution is attempted during the tool center point

control mode.

4: Changing the tool length offset value under execution is attempted during the tool center point

control mode (G169).

- 32 -

SECTION 4 TOOL AXIAL DIRECTION TOOL LENGTH COMPENDSATION

1. Overview Tool length compensation (G54-G59) is usually done on each axis (X, Y, Z, U, V, or W axis) (Fig. 1 shows the compensation in Z-axis direction). However, if the tool direction is not parallel to the other axis as shown in Fig. 2, tool length cannot be compensated by the usual tool length com-pensation. The tool length compensation in tool axial direction distributes the inclination of the tool axis to each axis component (X/Y/Z-axis) in the tool axial direction, and compensations the tool nose po-sition. This function is designed for the machine having a rotary axis on the spindle side and the tool tilt-ing mechanism.

[Supplement]

1) Compensation direction for the A-axis on the spindle side The figure below shows the relation between the A axis angle and the compensation direction by this function. If the tool length compensation value is negative, the center of A-axis rotation will be com-pensated in the tool nose direction.

A-120°

A+30°

A-90°

A0°

＋

＋

＋

＋

－－

－

－

X

Z

Fig. 4-3 A-axial angle and its compensated direction

Tool length compensation value

Tool length compensation value

Fig.4-1 Tool length compensation in Z-axis direction Fig.4-2. Tool length compensation in tool axial direction

Y+ Y+

Z+ Z+

- 33 -

2. Program Commands

2-1. Command Format

G171 P_H_ .........................Tool length compensation in tool axial direction mode ON

G170 P_..............................Tool length compensation in tool axial direction mode OFF

P: Position commands (X/Y/Z/rotary axis) H: Tool length compensation number (0 to the number of compensation groups)

- The position command is omissible. If omitted, however, no axis movement occurs in

G171/G170 block, but the compensation becomes valid or canceled from the next axis move-

ment command block.

- When the tool length compensation number is omitted, the tool length compensation number

used last time will be automatically set.

- Attachment length is automatically added to the amount of tool length compensation.

Addition of attachment length can be cancelled with NC optional parameter (bit) No.77 bit 1.

[Supplement]

1) The attachment length is the distance from the spindle nose to the rotary axis center on thespindle side.

If the tool center point control function or manual feed function for 5-axis machining (tool axial

direction manual feed, tool nose center manual feed, and table coordinate system manual feed)

is simultaneously selected with this function, the machine behaves as follows.

- If G171 command is specified when the tool length compensation number is 0, an alarm B

occurs.

- The tool length compensation number will not be reset by NC reset.

- The tool length compensation number will be backed up when the power gets shut off. The

backed up number will be automatically selected when the power is supplied again.

When only this function is selected

- The tool length compensation number can be set to “0” with specifying the G171 command

(The NC compensations the length by regarding that the tool length compensation value is

“0”).

- The tool length compensation number will be cleared by NC reset.

- The tool length compensation number will not be backed up.

- 34 -

2-2. Program Commands in G171 Mode The other G codes and mnemonic commands that can be specified in G171 mode are as follows.

Specifiable G codes and mnemonic codes

- G00 (Positioning)

- G60 (Unidirectional positioning)

- G01 (Linear interpolation)

- G02/G03 (Circular interpolation)

When a rotary axis command is specified, the end point will deviate, resulting in an alarm B.

- G04 (Dwell)

- G11 (Parallel/Rotational shift of coordinates)

- G15/G16 (Work coordinate system selection)

- G17/G18/G19 (Plane selection)

- G22 (Programmable limit)

The programmable travel limit is checked in the work coordinate system.

- G30 (Positioning to home position)

- G41/G42 (Cutter radius compensation)

However, when the tool is inclined, the cutter radius is not compensated properly.

- G43 (3D compensation)

- G45/G46 (Tool side compensation)

- G47 (Leading edge compensation)

- G51 (Enlargement and reduction of geometry)

- Fixed cycle

- G61 (Exact stop mode)

- G09 (Exact stop, one shot)

- G62 (Programmable mirror image)

- G69 (Slope machining)

Tool length is compensated in the tool axial direction regardless of the slope.

- G90/G91 (Absolute / Incremental command)

- G93/G94/G95 (Inverse time feed / feed per minute / feed per revolution)

- G92 (Setting work coordinate system)

- G131 (Super-NURBS control mode ON)

- MITCAN (Manual shift amount cancel)

- CALL (Sub program call)

- IF/GOTO (Branch command)

- Coordinates calculation function

- Area machining function

- G code macro

- MSG

- COPY/COPYE (Copy function)

The following G codes cannot be specified in G171 mode

- G54 to G59

- G169 (Tool center point control mode ON)

- 35 -

2-3. Points to be Noted (1) The part program used for this function targets any of the following three programs.

a) If the part program includes tool length and attachment length, this function sends the NC the difference between the tool length assumed by the part program and the actual tool length. Based on this compensation value, the NC compensates the tool length.

b) If the part program includes only the attachment length, this function sends the NC the tool length to be used as the compensation value. Based on this compensation value, the NC compensates the tool length.

c) If the part program includes neither the tool length nor the attachment length, this function sends the NC the tool length and the attachment length to be used to compensation the tool length.

(2) The tool length compensation in tool axial direction is for compensating the target value, and is not for compensating the tool nose path in the middle of operation. When, for example, feeding the linear axis and the rotary axis on spindle side simultaneously by linear interpolation com-mand, the tool nose path will not be linear.

(3) When activating the automatic tool length compensation, cutter radius compensation, or tool breakage detection, turn off the function for tool length compensation in tool axial direction.

(4) Pulse handle override - The tool nose center cannot be fed by pulse handle override. If the pulse handle override and the 3D FEED ON/OFF switch are both turned on, “4337 Alarm-D Tool nose center man-feed func is invalid” will appear, and the command for rotary axis operation by pulse handle will be disregarded.

- If the manual feed in tool axial direction or manual feed in the table coordinate system by pulse handle override is attempted in G171 mode, “1336 Alarm-A The manual shift remains. Be warned axis move” occurs. The alarm A also occurs if the pulse handle input is made when the 3D FEED switch is OFF.

(5) Manual interruption - Tool axial direction manual feed, table coordinate manual feed, and tool nose center manual

feed are all possible in the manual interruption mode. However, if the shift amount remains (≠0) when the manual interruption is turned off in G171 mode, “1336 Alarm-A The manual shift re-mains Be warned axis move” appears.

(6) The alarm A caused by the above-mentioned pulse handle override or manual interruption can be changed to the alarm D by turning on the NC optional parameter (bit) No.78 bit 4. However, even when the rotary axis is moved by the program command in G171 mode, the shift direction will not be changed according to the remaining shift amount.

工具軸方向手動送りでZ方向にシフト

プログラム指令経路

G171モードでA軸を回転

A軸回転後の位置


シフトの始点を中心に回転した位置とはなりません

Fig. 4-4 In case of the spindle side rotary axis rotated by the program commands in G171 mode when there remains a shift amount.


Shifted in Z-directionby tool axial direction manual feed


A-axis rotated in G171 mode

Position after A-axis rotation

Not the position used for rotation around the shifting start point

A-axis rotated in G171 mode after shift input

- 36 -

3. Parameters Before using this function, it is necessary to set the ROTARY AXIS PARAMETER in the parameter set-

ting mode. The initial statuses have been factory set. For details, see “ROTARY AXIS PARAMETERS”

in this manual.

There are the following parameters in addition to the above.

NC optional parameter bit

No. bit Description Initial

status

77 1

Specifies whether the attachment length is added to the tool length offset value which has been specified with the tool length offset number.

Do not add.

Add.

78 4

Specifies the alarm level in D when the shift amount is remained during the tool center point control mode (G169) or the tool length offset in the tool axis direction mode (G171).

Selects the Alarm D.

Selects the Alarm A.

No.77 bit1 is the power-on effective parameter.

- 37 -

4. Alarm List


The shift amount exists in G169 or G171.

[Character string]

None

[Code]

None


None

[Measures to Take]


2: Select the NC optional parameter (bit) No. 78, bit 4.


Tool nose control, Tool length compensation in tool axial direction

- 38 -

4-2. Alarm B 2644 Data word: G code (5-axis machining function)

The G-code that is not allowed with simultaneous execution is specified in the 5-axis machining func-

tion.

[Character]

None

[Code]

1: The rotary axis is removed when G169 or G171 command is specified.

2: G169 or G171 command was specified in the tool length compensation mode.

3: G169 or G171 command was specified with “0” set as the tool length compensation number.

4: G169 command was specified during parallel or rotation shift (by G11, COPY).

5: G169 command was specified when expansion or reduction of the geometry is ON (G51).

6: G169 command was specified in the mirror image mode.

7: G169 command was specified during axial name designation (G14).

8: G169 was specified during the fixed cycle.

9: G169 was specified in the cutter radius compensation mode.

A: G169 was specified in the 3D tool compensation mode.

B: G169 was specified during tool groove cutting, spindle path control, or turning cut mode.

C: G169 was specified in a mode other than G00 and G01.

D: G169 was specified in the feed-per-revolution mode or inverse time feed mode (G95, G93).

E: G169 was specified in the cylindrical side machining mode (G175).

F: G169 was specified in the 2nd tool length compensation mode (G189).

10: G169 was specified in the slope coordinate system mode (G69).

11: G169 was specified in the projection drawing designation command mode (G256).

12: G169 was specified in the attachment rotation compensation mode (G181 to 185).

13: G169 was specified during tool length compensation in tool axial direction (G171).

101: Any angle chamfering command (G246, 249) was specified in G169 mode.

102: Tool length compensation ON (G54 to G59) was specified in G169 or 171 mode.

103: An “H” command was specified in G169 mode.

104: Skip command (G31) was specified in G169 mode.

105: A fixed cycle was specified in G169 mode.

106: Tool change M code was specified in G169 mode.

107: A rotary axis (including the multi-rotation type and the limited type) was specified as a circular

interpolation command in G169 mode.

108: Work coordinate system setting command (G92) was specified in G169 mode.

109: Home position command (G30) was specified in G169 mode.

10A: Slope coordinate system mode ON (G69) was specified in G169 mode.

10B Thread cutting command (G33) was specified in G169 mode.

10C: 3D circular interpolation command (G2, G3, G172, or G173) was specified in G169 mode.

10D: Projection drawing designation command (G256) was specified in G169 mode.

10E: NURBS curve interpolation command (NURBS) was specified in G169 mode.

10F: Cutter radius compensation ON (G41, G42) was specified in G169 mode.

110: The 3D tool compensation ON (G44) was specified in G169 mode.

111: Feed-per-revolution or inverse time feed (G95, G93) was specified in G169 mode.

112: Axis name designation command (G14) was specified in G169 mode.

113: Cylindrical side machining ON command (G175) was specified in G169 mode.

114: The 2nd tool length compensation ON command (G189) was specified in G169 mode.

115: Attachment rotation compensation command (G181-G185) was specified in G169 mode.

116: Tool groove cutting, spindle path control, or turning cut was specified in G169 mode.

- 39 -

118: Tool length compensation in tool axial direction (G171) was specified in G169 mode.

119: Mirror image (G62) was specified in G169 mode.

[Probable Faulty Location]

Part program

[Measures to Take]

Correct the part program.

4-3. Alarm D 4337 Tool nose center man-feed func is invalid.

Tool nose center feed is selected with the panel switch in the mode where tool nose center cannot

be fed manually.

The tool nose center feed is selected with the panel switch for pulse handle override in automatic or

MDI operation mode.

[Character-string]

None

[Code]

None


None

[Measures to Take]

1: Do not select the tool nose center feed in the coordinate system selected with the panel switch.

[Related specification]

Manual feed of tool nose center


The shift amount exists in G169 or G171.

[Character-string]

None

[Code]

None


None

[Measures to Take]


[Related specification]

Tool nose control, Tool length compensation in tool axial direction

- 40 -

SECTION 5 TOOL SIDE COMPENSATION

1. Overview Regular cutter radius compensation is a function designed for a case where tool axis is perpendicular to either the X-Y, Y-Z, or Z-X plane determined by a plane selection G code (G17 to G19). Tool side com-pensation is a type of cutter radius compensation and designed for a case where tool axis is tilted ref-erence to the aforementioned planes. Tool side compensation performs cutter radius compensation on a plane (compensation plane) perpendicular to a tool axis. This function is designed for machines with a rotary axis on the spindle side.

X

Y

Z 工具軸

径補正後の経路


補正平面

Fig. 5-1 General description of tool side compensation

2. Program Command

2-1. Command Format G45 P_ D_ ........................ Tool side compensation (left) mode ON

G46 P_ D_ ........................ Tool side compensation (right) mode ON

G40 P_ ......................... Tool side compensation mode CANCEL

P_: Axis move command

D_: Cutter radius compensation number (0 to the number of offset data sets)

DA, DB, or DC command (1st, 2nd, and 3rd cutter radius compensation) is possible along with the regular cutter radius compensation number. D command can be omitted. If omitted previous D com-mand compensation number will be succeeded.

- If a new G45 or G46 is specified during a tool side compensation mode, the compensation direction will switched according to the newly specified command. (Alarm will be raised if no intersecting point exists.)

- The feed mode when shifting to the tool side compensation mode (G45/G46) from the tool side com-pensation cancel mode (G40) shall be G00 or G01 as in the case of cutter radius compensation mode (G41/G42). Otherwise, alarm will be raised.

- For virtual entrance upon entering the tool side compensation mode (G45/G46) or virtual exist upon exiting the tool side compensation mode, virtual direction reference to the specified point is converted into a compensation plane and handled in the same way as tool radius compensation (G41/G42).

Tool axis

Compensation plane

Tool path after compensation


- 41 -

2-2. Tool Side Compensation Mode and Other Command Modes Alarm will be raised if you attempt to enter the tool side compensation mode while the following mode is ON.

G02/G03 (Circular interpolation … including helical or 3D circular interpolation)

G11 (Coordinate linear/circular travel)

G41/G42 (Cutter radius compensation)

G47 (Leading edge offset)

G44 (3D tool compensation)

Fixed cycle function

G93 (Inverse time feed)

G62 (Programmable mirror image) … includes mirror image established by the switch

G69, G469 (Setting a slope coordinate system)

G132 (NURBS command)

COPY/COPYE (Copy)

G175 (Cylindrical side machining)

G169 (Tool center point control), etc.

2-3. Commands during Tool Side Compensation Mode Alarm will be raised if the following commands are specified while the tool side compensation mode is ON.

G11 (Parallel and rotational shift of coordinate system)

G14 (Axis name designation command)

G15/G16 (Work coordinate system selection)

G30 (Home positioning)

G31 (Skip)

G41/G42 (Cutter radius compensation)

G44 (3D tool compensation)

G47 (Leading edge offset)

Fixed cycle function

G93 (Inverse time feed)

G62 (Programmable mirror image) … includes mirror image established by the switch

G69, G469 (Setting a slope coordinate system)

G467 (Slope indexing)

G92 (Work coordinate system setting)

G132 (NURBS command)

G169 (Tool center point control)

G175 (Cylindrical side machining)

MITCAN (Manual shift amount cancel)

Coordinate calculation (LAA, ARC, etc.)

Area machining (PMILR, FMILR, etc.)

COPY/COPYE (Copy), etc.

- 42 -

3. Tool Movement During the Tool Side Compensation A point (coordinate value) specified in the program for a work coordinate system is converted into a co-

ordinate value on the compensation plane. Then, the cutter radius compensation point is converted in

2D movement on the compensation plane and convert it back to the coordinate value of original the

coordinate system to find the point after compensation as done in the regular cutter radius compensa-

tion (G41/G42). Thus, tool movement, interference check for the compensation plane, change of a di-

rection, and change of amount of compensation on, during and upon canceling the tool side compen-

sation mode are all same as in the regular cutter radius compensation.

The following section explains processing during the tool side compensation mode.

Three points are to be specified to find the compensation point. Assume that tool travels in the order of

P0, P1, and P2 in that order. (P0: Point currently specified, P1: Next specified point, P2: Point specified

after next)

X

Y

Z 工具軸

P0

P2

P1

Ph0

P0,P1,P2：ワーク座標での指令点Ph0：現在位置（P0に対する補正点）

Fig. 5-2 How to determine the compensation point during the tool side compensation mode (1)

Determine Zh-axis parallel to the tool axis of P1. A plane perpendicular to the Zh-axis is Xh-Yh plane.

(Even if tool axis of P1 is different from that of P0 and P2, compensation plane (Xh-Yh plane) is always

determined by the tool axis of P1.) Tool axis is determined by the angle of the rotary axis on the spindle

side. Ph0, P1 and P2 are converted into the points on the Xh, Yh, and Zh coordinate systems, and find

Ph0’, P1’ and P2’.

X

Y

Z工具軸

P0'

P2'

P1'

Xh

YhZh

Ph0'


Tool axis

P0, P1, P2: Points specified by the work coordinate

Ph0: Current position (compensation point for P0)

Tool axis

- 43 -

The system performs the cutter radius compensation on the compensation plane (Xh-Yh plane) to find

Pa1’and Pb1’, which are the compensation point for P1’. (Example is for cutting outside sharp edge.)

Xh

Yh

Pa1'

Ph0' P0'

P2'P1'

Pb1'


Converting the found compensation point Pa1’ and Pb2’ into the coordinate value for original work co-

ordinate system, the system finds Pa1 and Pb1 as compensation points and move its axis.

X

Y

工具軸

P0P2

P1

Ph0

Pa1 Pb1

Z

径補正後の経路


4. Parameter Before using this function, parameter setting mode ROTARY AXIS PARAMETER needs to be set. The

initial statuses have been factory set. For details, see “ROTARY AXIS PARAMETERS” in this manual.

5. Points to be Noted (1) In the normal cutter radius compensation, circular command is possible. However, in the tool side

compensation, it requires a caution. The system creates compensation plane based on the tool axis

and in some cases the geometry may not be circular even though a circular command is specified. In

this function, it is considered as circular if the relation of the origin, center, and end points are main-

tained on the compensation plane. Note that the geometry of the circular cutting on the compensation

plane may be different from the one on the command plane. (2) Tool side offset compensation function is to compensate the points specified in the program and not to

compensate the tool path in the middle of the tool movement.

Tool axis

Tool path after compensation

- 44 -

6. Alarm List Following is the list of the alarms used in this function, which includes alarms for cutter radius compensation (G41/G42) and cutter radius compensation cancel (G40).

6-1. Alarm B

2245 Data word: 'H'

H command is invalid.

[Character string]

None

[Code]

1: G15, G16 command was specified during 41, 42, 44, 45, 46, 47, 51, 11 or COPY mode was ON

Other: hexadecimal of specified value of H


Work coordinate system is selected while cutter compensation, axis shift, geometry change, or copy mode is ON.

[Measures to Take]

Correct the program.

2260 Data word: mirror image

Mirror image command was specified in an improper mode.

[Character string]

None

[Code]

5: Tool side compensation mode is ON.

[Measures to Take]


2262 Data word: spec code

An unavailable code was specified.

Codes that cannot be specified together were specified.

[Character string]

None

[Code]

44: G45 or G46 was specified without tool side compensation function.


Program error or code error

[Measures to Take]

Correct the NC program.


G code command error

[Character string]

None

[Code]

- 45 -

8: G41, G42, G45, or G46 was specified in a mode other than a regular mode. MITCAN was specified while cutter radius compensation mode, tool side compensation mode, or leading edge offset mode.

14: Cutter radius compensation (left) (G41) or Cutter radius compensation (right) (G42) was specified while graphic function is in use.

16: Cutter radius compensation or tool side compensation was specified while 3D circular interpola-tion mode is ON.

17: 3D circular interpolation was specified while cutter radius compensation or tool side compensation mode is ON.

18: Axis name designation command (G14) was specified in the following conditions.

● Local coordinate system setting was in progress. (G11) ● Scaling was ON. (G51) ● Fixed cycle was in progress. ● Cutter radius compensation is ON. (G41, G42) ● 3D tool compensation was in progress. (G44) ● Tool side compensation mode is ON. (G45, G46) ● Tool length compensation is ON. (G54, G55, G56) ● Circular mode including 3D circular mode is ON. (G02, G03, G172, G173) ● 3D coordinate converting is in progress (G69) ● Cylindrical side machining is in progress. (G175) ● Address character command other than O or N has never been specified after cutter radius

compensation cancel (G40) was specified. ● Leading edge offset mode is ON (G47)

23: Cylindrical side machining ON/OFF (G174, G175) was specified while fixed cycle, area machining, cutter radius compensation, or tool side compensation mode was ON.

34: NURBS (G132) mode was specified while cutter radius compensation (G41, G42) or tool side compensation (G45, G46) was ON.

117: Cutter radius compensation On (G41, G42) was specified while tool side compensation mode (G45, G46) was ON.

118: Tool side compensation ON (G45, 46) was specified while cutter radius compensation was ON (G41, G42).

119: Parallel or rotational shift of coordinate system (G11) or copy function (COPY, COPYE) was specified while tool side compensation mode (G45, G46) was ON.

120: Slope coordinate (G69, G469) was specified while tool side compensation mode (G45, G46) was ON.

121: Tool side compensation mode (G45, G46) was specified while parallel or rotational shift of coor-dinate system (G11) or copy function (COPY, COPYE) was in use.

122: Tool side compensation ON (G45, G46) was specified while mirror image mode was ON. 123: Tool side compensation ON (G45, G46) was specified while slope coordinate (G69, G469) was

in ON. 124: Tool side compensation ON (G45, G46) was specified while cylindrical side machining mode

(G175) was ON. 145: The slope indexing command (G467) was specified during the tool side compensation mode

(G45, G46). [Probable Faulty Locations]

G code in the NC program [Measures to Take]


2264 Data word: M code

An M code is specified other than during the regular mode*. Or, in the NURBS (G132) mode, an M code other than the M code which specifies rotational direction of the Super-NURBS control target axis is specified. (*) Modes other than the regular mode: FIXED CYCLE, CUTTER RADIUS

COMPENSATION/TOOL SIDE COMPENSATION, THREE-DIMENSION TOOL COMPENSATION, AREA MACHINING, HOME POSITION, LEADING EDGE COMPENSATION

- 46 -

[Character string]

None

[Code]

1: M code was specified in a mode other than the regular ones above.


M code in the NC program

[Measures to Take]

Do not specify an M code other than during the regular mode in the NC program execution.

2283 Fixed cycle: command impossible

Fixed cycle cannot be specified.

[Character string]

None

[Code]

2: Fixed cycle was specified while cutter radius compensation, 3D tool compensation, tool side com-pensation, area machining mode, or leading edge offset was ON.


Program error

[Measures to Take]


2297 Coordinate computation: mode

Coordinate calculation command (LAA, ARC, GRDX, GRDY, DGRDX, DGRDY, SQRX, SQRY, or BHC) was specified while the following mode is ON.

Cutter radius compensation mode (G41, G42)

Tool side compensation mode (G45, G46)

[Character string]

None

[Code]

None


Check the mode before specifying the coordinate calculation command.

[Measures to Take]

Check the mode before entering the coordinate calculation mode and fix it.

2301 Cutter radius comp.: startup impossible

3D compensation cannot be started up.

Cutter radius compensation/tool side compensation cannot be started up.

- Occurs when the axis feed mode is G02 or G03 and cutter radius compensation/tool side compensa-tion mode ON command (G41, G42, G45, or G46) was specified.

3D compensation cannot be started up.

- Occurs when the axis feed mode is G02 or G03 and 3D tool compensation mode ON command (G43) was specified.

[Character string]

None

[Code]

600: An attempt to enter the cutter radius compensation/tool side compensation mode was made while G02 or G03 was ON.

- 47 -

11: An attempt to enter the 3D tool compensation was made while G02 or G03 mode was ON.


Attempt to start the cutter radius compensation, tool side compensation or 3D tool compensation while G02 or G03 mode (circular mode) is ON in the main program

Program Example

G02 X_Y_I_J_

G42 X_Y_I_J_

G01 X_Y_

[Measures to Take]

Start the cutter radius compensation, tool side compensation or 3D tool compensation while G01 or

G00 mode is ON.

2332 Area machining: mode

Fixed cycle, cutter radius compensation, tool side compensation, 3D tool compensation, or leading

edge compensation mode was ON when area machining command was specified.

[Character string]

None

[Code]

2: Cutter radius compensation or tool side compensation is ON


Mode cancellation command is missing before area machining command.

Program Example:

G0 X0 Y0 Z100

G41 X50

PMIL X100 Y50 Z10 I100 J50 K5 Q10 R20 F400 D01

[Measures to Take]

Cancel the mode and specify the command in the regular mode.

2359 Data word: rotating axis command

Rotating axis command is improper.

[Character string]

None

[Code]

1: Round table or indexing table command was specified while the following mode was on or speci-fied. Circular mode (G02, G03) [Indexing table only], Tool length offset mode (G54 to 59), Cutter radius compensation mode (G41, G42), 3D tool compensation mode (G44), Geometry enlargement or reduction mode (G51), Coordinate calculation mode, Area machining mode

Alarm will occur if tool length offset mode or 3D tool compensation is specified while circular side machining mode (G175) is ON. Alarm will not occur with other mode. Round table or multiple rotary axis command will also result in an alarm with circular mode (G02, G03) in tool side compensation mode (G45, G46).


C code error upon rotary axis command

[Measures to Take]

Check the conditions and correct the NC program.

- 48 -

SECTION 6 LEADING EDGE COMPENSATION

1. Overview Machining with an end mill normally uses either the end or the side of the tool. (The direction of the tool travel is parallel to the surface to be machined.)

工具端面、工具側面での加工

Assuming a case where machining is done using an edge of a tilted tool in respect to the tool travel direc-tion as shown below, this function called leading edge compensation provides cutter radius compensation in such machining.

リーディングエッジオフセットで想定している加工

In leading edge compensation, the direction of compensation is determined by the direction of the tool axis specified with the position command in each block and the direction of tool travel in the proceeding block. Then, the tool is compensated by the amount of its radius.

工具軸方向

進行方向

リーディングエッジオフセット

機能概要図

Fig. 6-1 Machining using the end or side of the tool

Fig. 6-2 Machining assumed in leading edge compensation

Tool axis direction

Tool travel direction

Leading edge com-pensation

Fig. 6-3 Relation between travel direction, tool axial direction and leading edge compensation

- 49 -

2. Program Command

2-1. Command Format G47 P_D_ ...........................Leading edge compensation mode ON

G40 P_..................................Leading edge compensation mode OFF

P:Position Command (X, Y, Z, A, B, C)

D:Cutter radius compensation number (0 to the number of offset data set)

Cutter radius 1, 2, 3 (DA, DB, DC respectively) commands can be specified.

- Position command is omissible in either leading edge compensation mode ON or OFF. If omitted,

tool is shifted by the leading edge compensation amount. (See the following section.)

- If cutter radius compensation number is omitted, the one last specified will be succeeded.

- The feed mode when G47 is specified shall be G00 or G01.

[Supplement]

1) The leading edge compensation function compensates the program specification points but does not

compensate the path in the middle of the travel.

2-2. Movement upon entering the leading edge compensation mode 1) When a position command is specified in the block containing G47.

When a position command is specified in the block containing G47, the axis travels and the leading

edge compensation mode turns on. The compensation point is determined in the direction perpendicu-

lar to the tool axis direction on the plane formed by the tool axis direction at the specified position and

the tool travel direction in the block next to the one containing G47. Compensation direction will differ

with the tilt angle of the tool axis.

D

プログラム指令軌跡

工具中心軌跡

工具軸方向

Ｇ４７Ｐ＿

補正点


工具中心軌跡

工具軸方向

Ｇ４７Ｐ＿

D

補正点

Fig. 6-4 When the position command is specified in the block containing G47

Tool center path

Tool axis direction


When the tool axis is tilted in thedirection the tool travels.

When the tool axis is tilted in thedirection opposite to the directionthe tool travels.

Tool axis direction

Tool center path


Offset point Offset point

- 50 -

2) When position command is omitted

When position command is omitted, the tool is shifted by the amount of leading edge compensation.

D


工具中心軌跡

工具軸方向

Ｇ４７

補正点


工具中心軌跡

工具軸方向

Ｇ４７

D

補正点

Fig. 6-5 When the position command is omitted

[Supplement]

1) Alarm will be raised if the block next to the one containing G47 does not have an axis travel command as compensation direction cannot be determined. Alarm will be also raised if the axis does not move even though there is an axis travel command.

2645 Alarm-B Leading edge compensation impossible 1. 2) Alarm will be raised if the NC interprets the narrow angle formed between the tool vector and tool travel

vector is as either 0 º, 90 º, or 180 º. 2645 Alarm-B Leading edge compensation impossible 2.

3) If a rotary axis command is in the block containing G47, the specified angle will be used to calculated tool axis direction.

2-3. Movement during the leading edge compensation is on Leading edge compensation value is determined by tool axis direction at the end of the block, tool travel direction in the proceeding block, and cutter radius compensation amount in each block.

Fig. 6-6 Tool axis direction at the end of the block

• If no axis travel is in the proceeding block (or if the block has rotary axis travel only), the NC reads the block after next in advance and determines the tool travel direction. If there are two or more consecu-tive blocks without axis travel command, leading edge compensation value will be retained.

• If a proceeding block contains G40, leading edge compensation is calculated by the last tool travel

direction. • If there is a D command, the D command value will not be modified when the NC reads the block in

advance but modified when the command is executed. • If axis travel command is specified by changing the operation mode into MDI while leading edge

compensation is on, the specified axis travel command will replace the one in the proceeding block at which the advance reading pointer is pointing.

When the tool is tilted in the direc-tion the tool travels.

When the tool axis is tilted in the direction opposite to the direction the tool travels

Tool axis direction Tool axis direction

Tool center path Tool center path Offset point Offset point

Programmed tool path Programmed tool path

- 51 -

2-4. Movement upon exiting the Leading Edge Compensation mode 1) When the position command is specified in the block containing G40, the axis travels and the lead-

ing edge compensation mode turns off.

D


工具中心軌跡

工具軸方向

Ｇ４０Ｐ＿


工具中心軌跡

工具軸方向

D

Ｇ４０Ｐ＿

Fig. 6-7 Movement upon exiting the leading edge compensation mode

2) When the position command is omitted

When the position command is omitted, the tool will be shifted by the leading edge compensation

amount.

D


工具中心軌跡

工具軸方向

Ｇ４０プログラム指令軌跡

工具中心軌跡

工具軸方向

D

Ｇ４０

Fig. 6-8 Movement when the position command is omitted

Tool center path

Tool axis direction



When the tool axis is tilted in the direction opposite to the direction the tool travels.


When the tool axis is tilted in the directionopposite to the direction the tool travels

Tool axis direction

Tool axis directionTool axis direction

Tool center path

Tool center path Tool center path


Programmed tool path Programmed tool path

- 52 -

2-5. Compensation Direction 1) If the tool axis is tilted in the direction the tool travels or if the narrow angle θ formed between the tool

vector and tool travel vector is 0°< θ < 90°, the compensation direction is as shown below.

θ進行方向

工具軸方向

補正方向

0°< θ < 90°

2) If the tool axis is tilted in the direction opposite to the direction the tool travels or if the narrow angle θ

formed between the tool vector and tool travel vector is 90º < θ < 180º, the compensation direction is as shown below.

θ

進行方向

補正方向

工具軸方向

90°< θ < 180°

3) If the tool and the tool travel share the same vector, or form the vector mutually perpendicular,

which means that the narrow angle θ formed between the tool vector and tool travel vector is around 0°, 90° or 180°, the compensation direction is as shown below.

Leading edge compensation when the narrow angle is interpreted as either 0º or 180º

Leading edge compensation value last calculated will be retained.

Fig. 6-11 Leading edge compensation when the narrow angle is interpret as 0º

Leading edge compensation when the narrow angle is interpreted as either 90º

Leading edge compensation value will be calculated using the one last calculated.

Fig. 6-12 Leading edge compensation when the narrow angle is interpret as 90º

Compensation direction

Tool travel vector

Tool vector

Fig. 6-9 Compensation direction when the narrow angle is 0°< θ < 90°.

Fig. 6-10 Compensation direction when the narrow angle is 90º < θ < 180º

Tool travel vector

Compensation direction

Tool vector

- 53 -

[Supplement] 1) To have the NC interpret certain range of narrow angles as either 0°, 180°, or 90°

Set the NC optional parameter longword No. 59 to have the NC interpret certain range of

narrow angles as either 0°, 180°, or 90°.For details,refer to the “3.Parameter” in this ssection.

With assumption that the range of narrow angles for the NC to interpret is set ∆θ, the narrow

angle is determined as follows:

1) If 0 ≤ θ ≤ Δθ, θ = 0º

2) If (180 - Δθ) ≤ θ ≤ 180, θ = 180º

3) If (90 - Δθ) ≤ θ ≤ (90 + Δθ), θ = 90º

2-6. Functions forbidden while Leading Edge Compensation mode is ON The following commands cannot be specified while leading edge compensation mode is on. Alarm will be

raised if specified.

G02/G03 (Circular interpolation … including helical, 3D circular cutting) G11 (Parallel or rotational shift of coordinate system) G14 (Designation of axis names) G15/G16 (Work coordinate system selection) G30 (Positioning to home position) G31 (Skip) G41/G42 (Cutter radius compensation) G44 (3D cutter radius compensation) G45/G46 (Tool side compensation) G60 (Single direction positioning) G62 (Programmable mirror image… including mirror image activated by a switch) G69, G469 (Setting a slope coordinate system) G467 (Slope indexing) Fixed cycle operations G92 (Setting for work coordinate system) G93 (Inverse time feed) G132 (NURBS command) G169 (Tool center point control) G175 (Cylinder side-face machining) MITCAN (Manual shift amount cancel) Coordinate calculating function (LAA, ARC, etc.) Area machining function (PMILR, FMILR, etc.) COPY/COPYE (Copy function) Any angle chamfer (CHFC, CHFR) Grooving function Turning cut function Spindle path control function Nose R compensation function, etc.

- 54 -

2-7. Functions disable leading edge compensation Leading edge compensation would not work while the following functions are in use. Alarm will be raised if

specified.

G02/G03 (Circular interpolation … including helical, 3D circular cutting) G60 (Single direction positioning) G132 (NURBS command) G11 (Parallel or rotational shift of coordinate system) G41/G42 (Cutter radius compensation) G45/G46 (Tool side compensation) G44 (3D cutter radius compensation) Fixed cycle operations G93 (Inverse time feed) G62 (Programmable mirror image… including mirror image activated by a switch) G69, G469 (Setting a slope coordinate system) COPY/COPYE (Copy) G175 (Cylinder side-face machining) G169 (Tool center point control) Grooving function Turning cut function Spindle path control function Nose R compensation function, etc.

- 55 -

3. Parameter

Rotary axis parameter in the parameter setting mode needs to be set before using the leading edge compensation function. The initial statuses have been factory set. For details, refer to the “ROTARY AXIS PARAMETER INSTRUCTION MANUAL”.

Other parameters used in this function are as follows:

NC optional parameter longword

No. Description Setting range

Initial status

59 The range regarded as 0°, 90° or 180° for the narrow angle formed between the tool vector and tool travel vector in the lead-ing edge compensation.

0 to 50000 [0.0001deg]

0

4. Alarm list

2245 Data word: 'H'

Command H is improper.

[Character string]

None

[Code]

1: G15 or G16 was specified while 41, 42, 44, 47, 51, 11, or COPY mode is on.

Others: hexadecimal of command H


Work coordinate system is specified while cutter radius compensation, coordinate shift, geometry conver-

sion, or copy mode is on.

[Measures to Take]


2260 Data word: mirror image

Mirror image was specified in the improper mode.

[Character string]

None

[Code]

4: Leading edge compensation is on.


Part program error

[Measures to Take]



Unavailable code was specified.

Wrong combination of commands was specified.

[Character string]

None

- 56 -

[Code]

43: G47 was specified even though leading edge compensation is not provided.


Error in part program or function code

[Measures to Take]



Improper G code.

[Character string]

None

[Code]

4: Positioning to home position (G30) was specified in a mode other than a normal mode.

5: Setting for work coordinate system (G92) was specified in a mode other than a normal mode.

8: G41/G42 was specified in a mode other than a normal mode.

MITCAN was specified while cutter radius compensation mode or leading edge compensation is on.

9: Skip (G31) was specified in a mode other than a normal mode.

14: Cutter radius compensation left (G41)/Cutter radius compensation right (G42) was specified while

graphic function execution is in progress.

16: Cutter radius compensation was specified while 3D circular interpolation mode is on.

17: 3D circular interpolation mode was specified while cutter radius compensation mode is on.

18: Designation of axis names (G14) was specified with one of the following conditions.

● Setting of parallel or rotational shift of coordinate system (G11) is in progress.

● Scaling (G51) is in progress.

● Fixed cycle is in progress.

● Cutter radius compensation (G41, G42) is on.

● 3D tool compensation (G44) is on.

● Tool length offset (G54/G55/G56) is on,

● Circular interpolation mode including 3D circular interpolation (G02, G03, G172, G173) is on.

● 3D coordinate system conversion (G69) is on.

● Cylinder side-face machining (G175) is in progress.

● Any address character command other than the O or N command has never been specified after

cutter radius compensation cancel (G40).

● Tool Center Point Control (G169) is on.

● Leading edge compensation (G47) is on.

100: G code in G00 group other than rapid traverse (G00) or linear interpolation (G01) was specified while

leading edge compensation (G47) is on.

101: Parallel or rotational shift of coordinate system (G11) or copy (COPY, COPYE) was specified while


102: Setting of reference point return in the fixed cycle (G71) was specified while leading edge compen-

sation (G47) is on.

103: Coordinate system rotation (G69) was specified while leading edge compensation (G47) is on.

104: Any angle chamfer (CHFC,CHFR) was specified while leading edge compensation (G47) is on.

105: Cylinder side-face machining (G175) was specified while leading edge compensation (G47) is on.

106: 3D arc rotating direction (G256) was specified while leading edge compensation (G47) is on.

107: Tool center point control (G169) was specified while leading edge compensation (G47) is on.

- 57 -

108: Grooving (G142, G288, G289) was specified while leading edge compensation (G47) is on.

109: G code in G00 group other than rapid traverse (G00) or linear interpolation (G01) was specified while


110: Leading edge compensation ON (G47) was specified while parallel or rotational shift of coordinate

system (G11) or copy (COPY, COPYE) is in progress.

111: Leading edge compensation ON (G47) was specified while mirror image mode is on.

112: Leading edge compensation ON (G47) was specified while slope coordinate system setting (G69,

G469) is on.

113: Leading edge compensation ON (G47) was specified while Cylinder side-face machining (G175)

was on.

114: Leading edge compensation ON (G47) was specified while tool center point control (G169) was on.

115: Leading edge compensation ON (G47) was specified while grooving (G142, G288, G289), tuning

(G149), or spindle path control (G155) was on.

116: Leading edge compensation ON (G47) was specified in a mode other than a normal mode.

146: The slope indexing command (G467) was specified during the leading offset mode (G47).



Program example:

G52 X0

[Measures to Take]

Fix the displayed error code in the NC program.

2264 Data word: M code

M code other than the one to specify rotational direction of the axis subject to Super-NURBS control was specified in a mode other than the normal or NURBS (G132) mode. Fixed cycle, cutter radius compensation, 3D tool compensation, area machining, home positioning, leadin edge compensation

[Character string]

None

[Code]

1: M code was specified in a mode other than the normal modes mentioned above.


M code in the NC program

[Measures to Take]

Correct the part program not to specify any M code other than the one to specify rotational direction of the

axis subject to Super-NURBS control is specified in a mode other than the normal or NURBS (G132)

mode.

2283 Fixed cycle: command impossible

Fixed cycle cannot be specified.

[Character string]

None

[Code]

2: Fixed cycle was specified while cutter radius compensation, 3D tool compensation, area machining

mode, or leading edge compensation was on.


Part program error

- 58 -

[Measures to Take]

Correct the part program

2297 Coordinate computation: mode

Coordinate computation command (LAA, ARC, GRDX, GRDY, DGRDX, DGRDY, SQRX, SQRY, BHC)

was specified while the any of the following modes are ON.

Cutter radius compensation mode (G41,G42)

3D tool compensation mode (G44)

Leading edge compensation mode (G47)

[Character string]

None

[Code]

None


Check the mode before coordinate computation command was specified.

[Measures to Take]

Check and fix the mode before coordinate computation command was specified.

2332 Area machining: mode

Fixed cycle, cutter radius compensation, 3D tool compensation, or leading edge compensation was on

while area machining was specified.

[Character string]

None

[Code]

1: Fixed cycle mode is on

2: Cutter radius compensation mode is on.

3: 3D tool compensation mode is on.

7: Turning cut mode is on.

B: Leading edge compensation is on.


Canceling the mode before specifying an area machining command is missing.

Program example:

G0 X0 Y0 Z100

G41 X50

PMIL X100 Y50 Z10 I100 J50 K5 Q10 R20 F400 D01

[Measures to Take]

Cancel the mode and specify the normal mode.

2568 Inverse time feed

G or M code unavailable for inverse time feed was specified.

G codes unavailable in the time inverse:

Fixed cycle, cutter radius compensation, 3D tool compensation, home positioning, area machining,

leading edge compensation

M codes unavailable in the time inverse:

M code with home positioning

- 59 -

[Character string]

None

[Code]

None


Part program error

[Measures to Take]


2610 Spindle contour control

Spindle contour control is specified in an incorrect way.

[Character string]

None

[Code]

1: G155 or G154 was specified while cutter radius compensation, fixed cycle, or leading edge compensa-

tion was on.


Part program

[Measures to Take]


2645 Leading edge compensation impossible.

Alarm is raised in the leading edge compensation mode.

[Character string]

None

[Code]

1: No axis travel is in the block that the NC reads in advance while leading edge compensation mode is

ON.

2: Narrow angle formed between the tool vector and tool travel vector is judged either 0°, 180°, or 90°

while leading edge compensation is on.

3: Division by zero occurred. (Narrow angle calculation processing)

4: Division by zero occurred. (Offset amount calculation processing)


Part program

[Measures to Take]


- 60 -

SECTION 7 TOOL ATTITUDE COMMAND FUNCTION

1. Overview The tool attitude command function makes it possible to issue a command regarding tilt of a tool against a

workpiece by the vector (IJK) under the tool center point control.

The function also enables programming without considering the rotary axis configuration (axis name, structure

(alignment), etc.) of the machine.

Example)

i

j

k

X

Y

Z

(i, j, k)

Y

X

kj

i

Z

(i, j, k)

IJK command in a spindle type having two rotary axes IJK command in a table type having two axes

Fig. 7-1 Overview of the tool attitude command function

See “TOOL CENTER POINT CONTROL” in this manual for details on tool center point control.

- 61 -

2. Program Command

2-1. Command Format G169 P1 P_ H_ ··············· Tool center point control mode ON Tool attitude command (IJK) mode

P_ :

G170 P_ ······················· Tool center point control mode OFF

G169 P0 P_ H_ ··············· Tool center point control mode ON Angle command (ABC) mode

Angle command mode with P0 omission

In this case the following are applied. P1: Tool attitude command (IJK) effective

Tool attitude command is effective by specifying “1” as an address character. When P0 is specified or P command is omitted, rotary axis angle command to specify an angle of rotary axis by using A, B, C is effective. This P command is possible only within the same block as G169.

P_: Positioning command (X_, Y_, Z_, I_, J_, K_) The command to specify a target position for tool center point is issued by using address characters, X,Y, and Z. The command for tool attitude at the target point is issued by using I, J, and K. I, J, and K are vector for tool axis which heads from tool end to tool base from the table stan-dard coordinate system viewpoint. I , J, and K correspond to X, Y, and Z on the table standard coordinate respectively. I, J, and K are converted into rotary axis angle (A, B, and C) in NC and the rotary axis position is determined. The vector scale of I, J, and K is arbitrary and command with integer or decimal point number is possible. Six digits are required as number of significant figures in order to obtain calculation accuracy of 1/10000 [deg] when changing degrees. (Maximum 8 digits…Up to 8 numerical characters)

H_: Tool length compensation number (1 to the number of compensation data sets) - An omitted address character among I, J, and K is considered command of ‘0’. However, if all characters,

I, J, and K are omitted, the tool attitude of previous command remains. - Only positioning command for XYZ is considered as incremental values during incremental command

mode (G91). As for I, J, and K, incremental command and absolute command are not distinguished and the command of tool axis vector from table basic coordinate point of view is always issued.

- If the command of tool attitude command mode ON (G169 P1) is issued during angle command mode of G169 or the command of angle command mode ON (G169 P0) is issued during tool attitude command mode, an alarm occurs. When changing the mode between tool attitude command and angle command, cancel the tool center point control mode with G170 and then issue the command of G169 P_.

- If the angle command with ABC is issued during tool attitude command mode, an alarm occurs. - If the IJK command is issued for circular interpolation (G02, G03) during tool attitude command mode, an

alarm occurs. (As for radius command for circular interpolation (G02, G03), only R is effective during tool attitude

command mode.) - If address character of IJK among G code which can be issued during tool center point control mode is

used under the following command, inherent meaning of command IJK is taken instead of tool attitude command (IJK).

- 62 -

Programmable limit G22 Coordinate calculation function LAA, ARC, etc. Area machining function PMILR, FMILR, etc. Super-NURBS control ON G131

- Rotary direction of unlimited rotary axis corresponds to rotary direction command with normal M com-mand. As for the fourth axis, they are M15 (positive rotation) and M16 (inverse rotation). When rotary ta-ble short-cut command function is effective, M403 (short cut) is also effective. As for the fifth axis, it fol-lows M115 (positive rotation), M116 (inverse rotation), and M404 (short cut).

2-2. Parameter Parameters related to this function are set on the “TOOL ATTITUDE COMMAND” page of “ROTARY AXIS

PARAMETER” screen of parameter setting mode.

Fig. 7-2 TOOL ATTITUDE COMMAND screen

[THE AXIS TO MAKE AMOUNT OF MOVEMENT SMALL PREFERENTIALLY]

There are many combinations of rotary axis angles which can be changed when tool attitude

command (IJK) is changed to rotary axis angle.

An angle is determined so that the travel amount of rotary axis is as small as possible. Either of the

two rotary axes is determined to have smaller travel amount.

(This parameter is not effective when the power is turned on.)

[ANGLE RANGE]

The angle range when changing the tool attitude (IJK) command to rotary axis angle is specified.

The NC determines the rotary axis within this range. If the tool attitude command out of the range

is issued, an alarm occurs.

- 63 -

Setting unit Setting unit system

Setting range

The setting range of this parameter is P stroke limit of the system parameter and stroke range set by N stroke limit. - For specification of rotary axis with limit

N stroke limit to P stroke limit [Example] In the case where N stroke limit is :-121.0000 and P stroke limit is :

31.0000, the setting range is -121.0000 to 31.0000. - For multi rotary axis (multi rotary function of unlimited rotary axis is effective)

-9720.0000 to 9720.0000 [°] (1/10000° command specification) -46800.000 to 46800.000 [°] (1/1000° command specification)

- For unlimited axis (multi rotary function is ineffective) 0.0000 to 359.9999 [°] (1/10000° command specification) 0.000 to 359.999 [°] (1/1000° command specification)

Effective command

Setting, Adding, Calculation

(This parameter is not effective when the power is turned on.)

- When the setting values of both “N LIMIT” and “P LIMIT” are '0.0000' on each axis, the axis is not judged

by this parameter. The rotary axis angle is determined within the stroke limit setting range.

- If the stroke limit is changed after setting this parameter and this parameter goes beyond the range of

stroke limit, an alarm occurs when issuing tool attitude command (IJK).

- For rotary axis with limit or multi rotary axis (multi rotary function of unlimited rotary axis is effective)

Set the value as the following formula: (“N LIMIT”) ≤ (“P LIMIT”) The NC determines the rotary axis angle within the range of (“N LIMIT”) to (“P LIMIT”). If the tool attitude command (IJK) is issued with inverse formula [(“P LIMIT”) < (“N LIMIT”)], an alarm occurs.

- For unlimited rotary axis (multi rotary function is ineffective) two setting methods regarding formula are

possible.

When setting is performed with inverse formula [(“P LIMIT”) < (“N LIMIT”)], the rotary axis angle is determined in the rage over 0 [deg] (360 [deg]).

[Example]

- When the “N LIMIT” is: 90.0000 and the “P LIMIT” is: 180.0000 (Normal formula) The angle is determined within the range of 90.0000 to 180.0000.

0°

90°

180°

270°

Fig. 7-3 Normal formula angle range

- When the “N LIMIT” is: 180.0000 and “P LIMIT” is: 90.0000 (Inverse formula) The angle is determined within the range of 180.0000 to 359.9999 and 0.0000 to 90.0000.

- 64 -

0°

90°

180°

270°

Fig. 7-4 Inverse formula angle range

The rotary direction of unlimited axis corresponds to rotary direction command of rotary axis as

mentioned before. If a command to pass outside the setting range of this parameter, an alarm

occurs.

[Example]

If the calculated angle is 135.0000 as the result of IJK command at actual position of 160.0000

with positive rotary direction command when the “N LIMIT” is 90.0000 and the “P LIMIT” is

180.0000, an alarm occurs.

0°

90°

180°

270°

160°

135°

ANGLE RANGE 90 - 180

Fig. 7-5 Alarm triggered with unlimited rotary axis

In such a case, issue the inverse rotation command or short-cut rotation command if necessary.

- 65 -

2-3. How to Determine Angle When the tool attitude is expressed with IJK vectors, there are many combinations of solutions when changing

to rotary axis angle. For example, a machine with A and C axis has two combinations of solutions, (A: 90, C:

135) and (A: 270, C: 315) when the tool attitude command is “I1 J1 K0”.

(Actually, there are countless solutions such as (A: 450, C: -225) and (A: -90, C: 315) since the position of re-

sult added or subtracted with integral multiple of 360 [deg] to the original position is the same as that for original

position.)

When the same tool attitude command (IJK) is issued, even if coordinate values of A, B, and C are different

after command, the tool attitude toward a workpiece is same. This is because an angle is determined based on

“tool attitude command” parameter, actual position of rotary axis, and rotary direction on the unlimited axis

(multi rotary function ineffective) among those countless combinations.

The following description is for a case where the command of “I1 J1 K0” above mentioned is issued under the

configuration of A-axis being second rotary axis and C-axis being first rotary axis (C-axis rotary table is

mounted on the slant A-axis).

In the following description, the axis specified with parameter “THE AXIS TO MAKE AMOUNT OF

MOVEMENT SMALL PREFERENTIALLY” is called “preferential axis”.

Example 1) When the tool attitude command is “I1 J1 K0” and A-axis is rotary axis with limit (stroke limit:

“-100.0 to 150.0”) and C-axis is unlimited axis.

1-1)

When the “ANGLE RANGE” is the following:

TABLE N LIMIT P LIMIT

C-AXIS 0.0000 0.0000

A-AXIS 0.0000 0.0000

Obtained angles are (A: 90, C: 135) or (A: -90, C: 315).

- When the actual position is (A: 5, C: 270) and “preferential axis” is A-axis

A90 which is closer to the actual position of A-axis is adopted focusing on A-axis of “preferential

axis” in the following drawing.

0 ①A

90

②A

-90

②C

315

①C

135

A-axis POS.

-180 180

0 360

C-axis POS.

180

A Angle

C AngleCWCCW

Fig. 7-6 Determining the angle

As for C-axis, C135 is adopted same as A90.

As a result, the solution is (A: 90, C: 135).

- When the actual position is (A: 5, C: 270), “preferential axis” is C-axis in the positive rotation mode and

short-cut mode

- 66 -

C315 which is positive rotary direction and more closer to the actual position of C-axis is adopted

focusing on C-axis of “preferential axis“ in the above drawing. As for A-axis, A 90 is adopted same

as C315.

The solution is (A: -90, C: 315).

- When the actual position is (A: 5, C: 270), “preferential axis” is C-axis in the inverse rotation mode

C135 which is in inverse rotary direction and more closer to the actual position of C-axis is adopted

focusing on C-axis of “preferential axis” in the above drawing. As for A-axis, A90 is adopted same as

C135.

The solution is (A: 90, C: 135).

1-2)



C-AXIS 50.0000 300.0000

A-AXIS 0.0000 0.0000

the obtained angle is definitely (A: 90, C: 135).

- When the actual position is (A: 5, C: 270) and “preferential axis” is A-axis,

→ the angle is (A: 90, C: 135). (If C-axis is in the positive rotation mode, an alarm occurs.)

- When the actual position is (A: 5, C: 270) and “preferential axis” is C-axis in the positive rotation mode,

→ an alarm occurs.

- When the actual position is (A: 5, C: 270) and “preferential axis” is C-axis in the inverse rotation mode

and short-cut mode,

→ the angle is (A: 90, C: 135).

1-3)



C-AXIS 300.0000 50.0000

A-AXIS 0.0000 0.0000

the obtained angle is (A: -90, C: 315).


→ the angle is (A: -90, C: 315). (If C-axis is in the positive rotation mode, an alarm occurs.)

- When the actual position is (A: 5, C: 0) and “preferential axis” is C-axis in the inverse rotation mode

and short-cut mode,

→ the angle is (A: -90, C: 315).

- When the actual position is (A: 5, C: 0) and “preferential axis” is C-axis in the positive rotation mode,

→ an alarm occurs.

1-4)



C-AXIS 0.0000 0.0000

A-AXIS 0.0000 100.0000

the effective angle set is (A: 90, C: 135).

- 67 -

1-5)



C-AXIS 300.0000 50.0000

A-AXIS 0.0000 100.0000

if the tool attitude command “I1 J1 K0” is issued, an alarm occurs since there is no effective angle

set.

Example 2) When A-axis is a rotary axis with limit (travel range is “-100 to 150”) and C-axis is a multi ro-

tary axis

2-1)



C-AXIS 0.0000 0.0000

A-AXIS 0.0000 0.0000

the effective angle sets are (A: 90, C: 135+360×N) and (A: -90, C:315+360×M). [N and M are

integer number]


→ the angle is (A: 90, C: 495).

- When the actual position is (A: 5, C: 400) and “preferential axis” is C-axis,

→ the angle is (A: -90, C: 315).

2-2)



C-AXIS -360.0000 360.0000

A-AXIS 0.0000 100.0000

the effective angle set is (A: 90, C: 135+360×N) [N: -1, 0].


→ the angle is (A: 90, C: 135).


→ the angle is (A: 90, C: 135).

2-3)



C-AXIS -500.0000 0.0000

A-AXIS -100.0000 0.0000

the effective angle set is (A: -90, C: 315+360×M) [M: -1, -2].


→ the angle is (A: -90, C: -45).


→ the angle is (A: -90, C: -45).

Note

When an angle is set so that it does not beyond the angle range described above and stroke limit, axis

movement does not continue in some cases due to the nature of program command, even if IJk com-

mand has continuity between each block.

For example, in the configuration where C-axis rotary table is mounted on the slant A-axis, when the

command to move in the order of +5→+6→+7→+8→+9→+10→+11→+12 as A-axis angle is issued as

- 68 -

a result of IJK command, the attitude of +11, +12 cannot be performed if the stroke range of A-axis is

-100 to +10.5. In this case, be aware that movement is performed to -11 instead of +11 after moving to

+10 and C-axis moves almost reversely.

- 69 -

3. Alarm List

3-1. Alarm A 1336 The manual shift remains.Be worned axis move.

Shift amount exists in G169 or G171.

[Index]

None

[Character-string]

None

[Code]

None


None

[Measures to Take]


2: Switch to warning at NC optional parameter bit No. 78 Bit 4.


Tool nose control, tool length compensation in the tool axis direction

3-2. Alarm B 2644 Data word: G code (5-axes machining funcution)

[Index]

None

[Character-string]

None

[Code]

1: When a rotary-axis was removed, it was specified G169 / G171.

2: It was specified G169 / G171 in tool length compensation mode.

3: The tool length compensation number was 0 at G169 / G171.

4: It was specified G169 in a G11,COPY mode.

5: It was specified G169 in a G51 mode.

6: It was specified G169 in a mirror image mode.

7: It was specified G169 in a G14 mode.

8: It was specified G169 in a fixed cycle mode.

9: It was specified G169 in tool diameter compensation or a tool side compensation mode.

A: It was specified G169 in a 3D tool compensation mode.

B: It was specified G169 in a G142/G155/ turning cut mode.

C: It was specified G169 in a mode except G00, G01.

D: It was specified G169 in G93/G95 mode.

E: It was specified G169 in G175 mode.

F: It was specified G169 in G189 mode.

10: It was specified G169 in G69 mode.


12: It was specified G169 in G181-G185 mode.


101: It was specified G246/249 in G169 mode.

102: It was specified G54-G59 in G169/G171 mode.

- 70 -

103: It was specified H during G169 mode.


105: It was specified a fixed cycle in G169 mode.

106: It was specified a tool change M-code in G169 mode.

107: It was specified rotary axis in the circular interpolation in G169 mode.



10A: It was specified G69 in G169 mode.

10B: It was specified G33 in G169 mode.

10C: It was specified 3D circular interpolation in G169 mode.

10D: It was specified G256 in G169 mode.

10E: It was specified NURBS in G169 mode.

10F: It was specified the tool diameter compensation or the tool side compensation in G169 mode.


111: It was specified G93/G95 in G169 mode.




115: It was specified G181-G185 in G169 mode.

116: It was specified the G142/G155/ turning cut in G169 mode.

117: It was specified G27-G30(return to the reference point) in G169 mode.




Program error

[Measures to Take]


2646 Program bad direct: Tool direction command

There is an error in the tool direction command.

[Index]

None

[Character-string]

None

[Code]

1: It was specified an axis angle mode in a tool direction mode.

2: A tool direction mode is specified although it is not included in the specifications.

4: It was specified a tool direction mode in an axis angle mode.

5: It was specified besides P0/P1 in the tool center point control mode(G169).

6: It was specified I, J, K in a G00/G01 order in an axis angle mode.

7: It was specified A, B, C in a G00/G01 order in a tool direction mode.

8: It was specified I, J, K in a G02/G03 order in a tool direction mode.


Program error

[Measures to Take]


- 71 -

2647 Cannot convert Tool direction command into Angle

Conversion to the angle from the vector failed.

[Index]

None

[Character-string]

None

[Code]

1: The N TRAVEL LIMIT is larger than the P TRAVEL LIMIT.

2: The ANGLE RANGE is out of range of the TRAVEL LIMIT.

3: The ANGLE RANGE is out of the setting range in the infinite, the multi-turn or the limited rotary axis.

4: The N LIMIT of the ANGLE RANGE is larger than the P LIMIT in the multi-turn or the limited rotary axis.

5: Converted angle is out of the ANGLE RANGE.

6: When the N LIMIT of the ANGLE RANGE is larger than the P LIMIT in an infinite axis, the P LIMIT is

less than 0, or the N LIMIT is more than 360 degrees.

7: When the constitution of the axis was not effective type of the tool direction command, it was specified a

tool direction mode.


The setting of the TRAVEL LIMIT or the ANGLE RANGE is wrong.

[Measures to Take]

Reset the TRAVEL LIMIT or the ANGLE RANGE.

3-3. Alarm D 4338 The manual shift remains.Be worned axis move.

Shift amount exists in G169 or G171.

[Index]

None

[Character-string]

None

[Code]

None


None

[Measures to take]


[Related specifications]

Tool nose control, tool length compensation in the tool axis direction

- 72 -

SECTION 8 TOOL POSTURE COMPENSATION FUNCTION

1. Overview

The tool center point control is available to perform simultaneous 5-axis machining in more familiar way.

The 5-axis machining has become widespread thanks to the tool center point control function since it allows si-

multaneous 5-axis machining (NC) programs to be created by CAM easier.

However, there may be variability with command positions in the machining program (especially with the com-

mand to the rotary axis which determines the tool posture) due to calculation error in approximation with CAM or

other similar reasons. Therefore, this leads to the case where the travel target positions of feed axes on the ma-

chining tool will vary, or feedrate will change. This may result in extension of the machining hour or rough finish.

The “tool posture compensation function” (described as “this function” in this section hereafter) is used to mainly

to the rotary axis command which determines most elements of the tool posture direction among specified posi-

tions in a machining program during ”tool center point control” mode. This compensates the conditions such as

“minor axis inversion” and “fluctuation” shown in the diagram below automatically while determining the command

conditions around, enabling more stable feedrate.

<Variation example of specified positions and the influence>

Fig.1 What is the tool center point control?

Command during tool center point control (The position is specified using tool center point and toolposture direction.

Conventional command (The position of each feed axis is specifieddirectly.)

Command specified condition Minor axis inversion Fluctuation

Workpiece rela-tive speed

at the tool center point Tool

center point

Inversion removed automatically To be smoothed

Tool cen-ter point

Stabilizing feedrate

Workpiece rela-tive speed

at the tool center point

- 73 -

2. Procedures

To perform machining using this function, select ”control ON” with the execution mode of TOOL POSTURE

FLUCTUATION REDUCTION CONTROL PARAMETER on the PARAMETER screen, or specify ”G445 (control

ON)” in the machining program. Then the operation is carried out with automatic tool posture direction compensa-

tion in normal operation, which allows machining to be performed in more stable feedrate.

If the specification for this function is made both by the parameter setting screen and the machining program, the

priority is given to the machining program. The operation status can be checked on the TOOL POSTURE

FLUCTUATION REDUCT. screen in the operation mode.

There are two kinds of control parameters in this function.

(1) Execution Mode

This function is enabled or disabled by setting “G445 (control ON)” or “G444 (control OFF)” respectively. The

pre-set value or the value by reset for “Execution Mode” at the factory is in the parameter setting screen is

“G444 (control OFF)”.

(2) Permissible Level

Set the maximum angle to each rotary axis both in the negative and positive directions respectively which can

be shifted to compensate the posture from the specified rotary axis position.

- Set a positive value even in the setting field of negative direction as ”Permissible Level”.

- The rotary axes to be set with these level values are those specified as a control target with the tool center

point control. If the axis name of a rotary axis is changed with the axis name specification function, the axis

name after change is shown on the screen. Also specify the axis name after change in the machining pro-

gram.

- The table below shows the range of setting value and the pre-set value at the factory. If “0.0” is set to an axis

as the permissible level, the posture compensation will not be done in the direction.

Rotary axis with 1/10000 deg. spec. Rotary axis with 1/1000 deg. spec.

Setting range Default Setting range Default

Permissible

Level

0.0000 to 90.0000 1.0000 0.000 to 90.000 1.000

- 74 -

2-1. Specification using parameter setting

Procedures

(1) Switch to the parameter setting mode.

(2) Press [F8] (DISPLAY CHANGE) to display the DISPLAY CHANGE menu.

(3) Choose the TOOL POSTURE FLUCTUATION REDUCTION CONTROL PARAMETER screen below from

the DISPLAY CHANGE menu.

(4) Locate the cursor using the cursor key to each parameter position below. Then select the menu items using

the function key at the screen bottom and set the parameter values.

- Execution Mode

- Permissible Level (positive direction / negative direction per rotary axis)

(5) The applied setting unit system accords to the one set with the NC unit.

■ Do not change the control parameter of this function on the parameter setting screen during program opera-

tion. Since this function checks machining programs as look-ahead reading, the function determines the

compensation target section automatically while carrying out operation and executes the necessary com-

pensation. Therefore, it is impossible to change the control parameter of this function during program opera-

tion at an intended timing using the setting screen. To change the parameter, use the specified method us-

ing the machining program described later.

CAUTION

- 75 -

2-2. Specification using machining program

It is possible to specify “Permissible Level” for “control ON” and “control OFF” of this function and positive direc-

tion / negative direction for each rotary axis using the machining program by inserting the following commands to

the machining program.

The commands below can be specified only during the “tool center point control” mode.

Control ON G445 [A_][B_][C_][P_][Q_][R_]

- Used as a single block command.

- The function is activated in an appropriate block after a modal command is specified.

Control

OFF

G444

- Used as a single block command.

- The function stops after a modal command is specified.

Control ON

- Specify ”Permissible Level” to each rotary axis in the positive and negative directions separately using the ad-

dress characters (A, B, C, P, Q, and R) as follows.

A: A-axis permissible level in the positive direction [operation unit system, angle]

B: B-axis permissible level in the positive direction [operation unit system, angle]

C: C-axis permissible level in the positive direction [operation unit system, angle]

P: A-axis permissible level in the negative direction [operation unit system, angle]

Q: B-axis permissible level in the negative direction [operation unit system, angle]

R: C-axis permissible level in the negative direction [operation unit system, angle]

- Set a positive value even in the setting field of negative direction as ”Permissible Level”.

- This command is a modal command.

- This command is a single command block. If any of other G or M codes, or an address character other than

above mentioned is specified in the same block, an alarm will be raised.

- These address characters are effective only to the existing rotary axes. If an address character is specified to a

rotary axis which does not exist, an alarm will be raised.

- These address characters can be omitted separately. The “Permissible Level” of an omitted address character

employs “Permissible Level” set on the TOOL POSTURE FLUCTUATION REDUCTION CONTROL

PARAMETER screen in the “parameter setting” mode.

- This command takes precedence over the value set on the TOOL POSTURE FLUCTUATION REDUCTION

CONTROL PARAMETER screen in the “parameter setting” mode. Thus if the “control OFF” is selected on the

screen, for example, “control ON” is activated when this command is executed.

Control OFF

- The function stops after this command is specified. However, when “control ON” is selected on the Execution

Mode on the TOOL POSTURE FLUCTUATION REDUCTION CONTROL PARAMETER screen in the “pa-

rameter setting” mode, the function is activated with this setting.

- 76 -

Machining program sample:

Here is a simple machining program sample below.

S10000 M03

G00 Z500.

G169 H1 X0. Y0. Z500. A0. C0. (tool center point control ON)

G445 A10. C10. P10. R10. (this function control ON)

G00 X0. Y0.

Z20.

G01 Z-2.

X1.111 Y1.111 A0.111 C10.111

: (skipped)

G00 Z500.

G444 (this function control OFF)

G170 (tool center point control OFF)

M05

M02

2-3. Control guide

The operation status of this function can be checked on the TOOL POSTURE FLUCTUATION REDUCT. screen

in the operation mode.

- Execution Mode

”Control ON” and “control OFF” are shown when the function is operated and when not operated respectively.

- Permissible Level

The “Permissible Level” used when this function is being operated is shown for positive and negative directions

respectively for each rotary axis targeted by the tool center point control.

If the axis name of a rotary axis is changed with the axis name specification function, the axis name after

change is shown on the screen.

- 77 -

- Control ON lamp

This lamp turns on when this function is being operated, and turns off when not.

- Target position compensation lamp

This lamp turns on when a command position in the machining program is being compensated, and turns off

when not.

2-4. Cautions and restrictions

This item explains the cautions and restrictions regarding this function.

- Tool center point command position during machining program

With the tool center point control using a ball end mill, there are two tool center point command positions (dia-

gram below ) during the machining program generally as:

(A) Ball center position of tool point

(B) Ball point position

In this function, (A) is presumed as the tool center point command position. Note that overcutting or uncut part

may be likely if the tool center point command position is not the ball center position as in the case (B).

- Target position display

The target position on the operation screen is displayed along with the target position specified in the machining

program while this function is being operated. However, the actual motion moves to the position after compen-

sated. Therefore, note that an axis can be shifted even when no shift command has been issued, and it is pos-

sible to proceed to the next command block before the remaining distance reaches 0.0.

- Relation with single block operation

If the single block is turned on during automatic operation, and if the target position in the block which is the sin-

gle block stop position has been compensated already by this function, note that the function control will be

turned off after moving to the target position which has been compensated and stopping.

Moreover, to continue operation of the single block after that, move to the original target position of each block

and stop since the function is not enabled to the subsequent block.

- Relation with tool center point control

This function will be operated only during the tool center point control mode. Therefore, if a G or M code that will

turn off the tool center point control mode is specified, then the function control will be turned off at the same

time. The specifications during the tool center point control mode are carried over.

Tool posture is changed by this

function. Overcutting or un-cut may occur.

(A) Tool center point command position( ) is the ball

center position.

[Setting condition when this function is used]

(B) Tool center point command position ( ) is the

ball point position.

- 78 -

- Positioning command

The tool posture compensation is not performed with the G00 positioning command.

- Arc command

Rotary axes cannot be specified with the arc command during the tool center point control. Therefore, the arc

command is not covered by this function, putting this function “control OFF” once.

- Relation with travel end limit

If the rotary axis reaches the travel end limit due to the result of compensation of the command position in the

machining program with this function, it may not change smoothly. Also, it may not change smoothly if the pro-

grammable travel end limit has been set and the rotary axis position after compensation reaches the program-

mable travel end limit. In addition, if the linear axis reaches the travel end limit, the axis may stop displaying the

following alarm:

“1201 ALARM-A Plus travel limit over” or,

“1202 ALARM-A Minus travel limit over”

- 79 -

3. Alarm List 3-1. Alarm A

1340 Tool Posture Fluctuation Reduction error

A fatal error is detected. The tool posture compensation function cannot continue its operation. [Index]

None [Character-string]

None [Code]

VVWWXXYZ: VV: Module code WW: Common code XX: Unique code in each module Y: Axis index Z: Buffer manager error code 1= Error 2= Argument range error 3= Effective number calculation error 4= Vacant number calculation error 5= No data 6= Write pointer over flow 7= Calculation result error

[Probable Faulty Locations] Software malfunction

[Related Specification] Tool posture compensation function

3-2. Alarm B


A command has been issued for a non-specification code. A command has been issued that cannot be executed simultaneously.

[Index] None

[Character string] None

[Code] 47: A G444 or G445 command has been issued when there is no specification for the tool posture compensa-

tion function.


Wrong G code command [Index]

None [Character string]

None [Code]

165: Another G or M code is specified at the same time when specifying ON/OFF (G445, G444) command in the tool posture compensation mode.

166: The tool posture compensation mode ON (G445) command is specified not during the tool center point control mode.

167: The tool center point control mode OFF (G170) command is specified during the tool posture compensa-tion mode (G445).

[Probable Faulty Locations] G code during the machining (NC) program

[Measures to Take] Correct the content of the code displayed during the machining (NC) program.

- 80 -

2359 Data word: rotating axis command

A command has been issued for a rotary axis for which commands cannot be issued. [Index]


None [Code]

4: A tool posture compensation function "allowable compensation" command has been issued for a removable axis.

2673 Tool posture fluctuation reduction

Tool posture compensation function command error. [Index]


None [Code]

1: The command value of A, B, C, P, Q, and R is out of the allowable range. 2: “Permissible Level” is specified to the indexing rotary axis. 3: “Permissible Level” is specified to the rotary axis individual command axis. 4: “Permissible Level” is specified to the spindle path virtual axis.

[Probable Faulty Locations] Machining (NC) program error

[Measures to Take] Correct the content of the code displayed during the machining (NC) program.

- 81 -

SECTION 9 ROTARY AXIS PIVOT DISTANCE COMPENSATION FUNCTION

1. OVERVIEW

In the machine having a rotary axis, the rotation center of the rotary axis may be slightly shifted

from the designed value due to the manufacturing error, assembling error, etc. Moreover, when

the machine is used for a long time, the rotary axis center position may shift from the correct posi-

tion.

This pivot distance compensation function compensates such minute "distance" to keep the rotary

axis center at a constant position.

芯ズレ補正有効時の動作

芯ズレ補正前の旋回後の位置

芯ズレ補正後の旋回後の位置

芯ズレ補正

実際の旋回中心位置

芯ズレ

回転軸パラメータ・回転軸旋回中心位置

旋回前の位置

テーブル側の旋回中心位置と芯ズレの関係

芯ズレ補正無効時の動作

実際の旋回後の位置

NCから見た旋回後の位置

Fig. 1-1 Pivot distance compensation function (table)

Actual rotation center position

Rotary axis parameter, center of rotary axis position before rotation

Relation between rotation center and pivot distance on the table side

Actual position after rotation

Position that the NC determines after rotation

Pivot distance compensation

Action when the pivot distance compensationis not activated

Action when the pivot distance compensation is activated

Position after rotation before pivot distance compensation

Position after rotation after pivot distance compensation

Pivot distance

Relation between rotation center and pivot distance on the table side

- 82 -

NCから見た旋回後の位置

実際の旋回後の位置

芯ズレ補正無効時の動作

芯ズレ補正有効時の旋回後の位置

芯ズレ補正無効時の旋回後の位置

芯ズレ補正有効時の動作

芯ズレ補正

主軸側の旋回中心位置と芯ズレの関係

回転軸パラメータ・回転軸旋回中心位置

実際の旋回中心位置

旋回前の位置

芯ズレ

Fig. 1-2 Pivot distance compensation function (spindle)

Actual rotation center position

Pivot distance Rotary axis parameter, rotary axis center position

Position before rotation

Relation between rotation center and pivot distance on the spindle side

Actual position after rotation

Position that the NC determines after rotation

Action when the pivot distance compensation is not activated

Action when the pivot distance compensation is activated

Position after rotation when pivot distance compensation is not activated

Position after rotation when pivot distance compensation is activated


- 83 -

2. Parameter Setting

2-1. Pivot Distance Compensation The PIVOT DISTANCE COMPENSATION display is used to set the distance from the rotation

center position set in ROTARY AXIS PARAMETER / ROTATION CENTER to the actual rotation

center position.

To set the amount of pivot distance based on the measured rotary axis center position, select [F4]

(SPINDLE CENTER) or [F5] (TABLE CENTER), and make settings on each pop-up window. For

details, refer to “2-1-1. Spindle Center” and “2-1-2. Table Center”.

Fig. 1-3 PIVOT DISTANCE COMPENSATION display

[Supplement]

1) [F4] (SPINDLE CENTER) is displayed when the rotary axis is on the spindle side, and [F5] (TABLE CENTER) is displayed when the rotary axis is on the table side.

2) PIVOT DISTANCE COMPENSATION and PIVOT DISTANCE can be set only when the ro-tary axis is in the reference position (0 degree position in the machine coordinate system). If you attempt to set these values without placing the rotary axis in the reference position, the following error will occur.

Error 9461 Rotary axis is not 0 degree on machine coordinate. 3) This parameter has the function for fine adjustment of the rotation center of rotary axis. Therefore, a large value cannot be set as a pivot distance.

- 84 -

DISPLAY COORDINATE

Set the work zero point number used for setting the pivot distance compensation amount.

[Supplement]

1) When you set the compensation amount in the machine coordinate system, set 0 degree at the displayed coordinate system.

PIVOT DISTANCE COMPENSATION

Selects the setting between INEFFECT / EFFECT for the pivot distance compensation function.

Initial setting Setting range INEFFECT INEFFECT / EFFECT

PIVOT DISTANCE

Set the difference from the rotation center set in the ROTARY AXIS PARAMETER / ROTATION

CENTER to the actual rotation center position as the pivot distance.

Initial setting Setting range Setting unit 0.000 -0.100 to +0.100 [mm] * Selected unit system

* The setting range can be changed with the NC OPTIONAL PARAMETER LONG WORD No.

60.

The factory-set setting range is within ±0.100 [mm].

NC OPTIONAL PARAMETER LONG WORD

No. Contents Setting range Initial value

60 Pivot distance setting possible range 0 to 200 [micrometer] 100

- 85 -

2-1-1. Spindle Center In the SPINDLE CENTER pop-up window, the pivot distance on the spindle side can be set using the rotary axis rotation center position obtained by measurement. To display this pop-up window, select [F4] (SPINDLE CENTER) from the function menu on the ROTARY AXIS PARAMETER / PIVOT DISTANCE COMPENSATION display.

Fig. 1-4 SPINDLE CENTER pop-up window

ROTATION CENTER: MEASURMENT

Set the rotary axis rotation center (hereafter, measured position) obtained by measurement. If [F7] (UPDATE) is selected, the NC calculates the pivot distance between the value set here and the rotation center position set in ROTARY AXIS PARAMETER / ROTATION CENTER, and this pop-up window will be closed. If [F8] (CANCEL) is selected, the value set here will be canceled and this pop-up window will be closed.

Initial value Setting range Setting unit Machine-dependent -99999.999 to +99999.999 Selected unit system

[Supplement]

1) This parameter can be set only when the rotary axis is in the reference position (0 degree in the machine coordinate system). If you attempt to set the parameter without placing the ro-tary axis in the reference position, the following error will occur.

Error 9461 Rotary axis is not 0 degree on machine coordinate

2) If the pivot distance compensation computed from the measurement position exceeds the upper limit of pivot distance compensation, the following error occurs.

Error 5209 input data overflow

3) For the procedure for measuring the rotary axis rotation center, refer to PROCEDURE FOR SETTING ROTARY AXIS CENTER POSITION INSTRUCTION MANUAL for each rotary axis structure.

- 86 -

2-1-2. Table Center In the TABLE CENTER pop-up window, the pivot distance on the table side can be set using the rotary axis rotation center position obtained by measurement. To display this pop-up window, se-lect [F5] (TABLE CENTER) from the function menu on the ROTARY AXIS PARAMETER / PIVOT DISTANCE COMPENSATION display.

Fig. 1-5 TABLE CENTER pop-up window

ROTATION CENTER: MEASURMENT

Set the rotary axis rotation center (hereafter, measured position) obtained by measurement.

"ROTATION CENTER: MEASUREMENT" can be set so that the value inputted by [F3] (CAL)

may serve as the current position.

If [F7] (UPDATE) is selected, the NC calculates pivot distance between the value set in the value

set here and the rotation center position set in rotary axis parameter / rotation center, and this

pop-up window will be closed.

If [F8] (CANCEL) is selected, the value set here will be canceled and this pop-up window will be

closed.

Initial setting Setting range Setting unit Machine-dependant -99999.999 to +99999.999 Selected unit system

- 87 -

[Supplement]

1) This parameter can be set only when the rotary axis is in the reference position (0 degree in the machine coordinate system). If you attempt to set the parameter without placing the ro-tary axis in the reference position, the following error will occur.

Error 9461 Rotary axis is not 0 degree on machine coordinate

2) If the pivot distance compensation computed from the measurement position exceeds the upper limit of pivot distance compensation, the following error occurs.

Error 5209 input data overflow

3) For the procedure for measuring the rotary axis rotation center, refer to “PROCEDURE FOR SETTING ROTARY AXIS CENTER POSITION INSTRUCTION MANUAL” for each rotary axis structure.

- 88 -

SECTION 10 SLOPE MACHINING FUNCTION 2

1. Overview

This function indexes the rotary axis (or merely computes the indexing angle) so that the Z-axis di-

rection in the slope coordinate system will be identical to the tool axis direction. It is done by defining

the slope coordinate system with which the machining program can be executed while specifying an

arbitrary plane on a workpiece.

The functions described below are collectively called as the “slope machining function 2”.

- Slope coordinate conversion command (G469/G468) This command allows slopes to be set to the arbitrary plane on a workpiece in a variety of meth-ods. For details, see “2. Slope Coordinate Conversion Command”.

- Slope indexing command (G467) This command computes the rotary axis indexing angle on which the Z-axis in the slope coordi-nate system set by the slope coordinate conversion command (G469) will be identical to the tool axis direction, and also performs indexing operation. For details, see “3. Slope Indexing Command”.

Z’X’

Y’ C

B

Z”

X” Y”

Slope coordinate system (X’, Y’, Z’)

Coordinate system after slope indexing (X”, Y”, Z”)

Fig. 1-1 Slope Indexing command

- I-MAP function for slope The slope coordinate conversion and slope Indexing command can be set in menu format using the I-MAP edit function when both “slope machining function 2” and “I-MAP edit function” options are enabled. For details, see “4. I-MAP Function for Slope”.

Fig. 1-2 I-MAP for slope

- 89 -

2. Slope Coordinate Conversion Command

2-1. Overview This function defines the coordinate system so that the machining program can be executed on a

desired plane. This coordinate system is called the slope coordinate system.

The function has eight methods including Euler angles, roll - pitch - yaw angles, 3 points, and tool

axis direction slope to define the slope coordinate system.

X'

Y'Z'

XY

Z

XY

Z

X, Y, Z: Workpiece coordinate system

X’, Y’, Z’: Slope coordinate system

Fig. 2-1 Overview of the slope machining function

- 90 -

2-2. Program command - There are eight methods of the slope machining function and cancel commands to set the slope

coordinate system. For the detail of the command format for each slope, see the next and subsequent items.

- The slope machining function accepts commands up to ten levels. If the 11th command is specified, the following alarm will be raised. “2448 Alarm B Coordinate Change instruction missing 114”

- In the next and subsequent items, the positive direction of a rotary axis rotation direction should be CCW direction when viewed from the positive direction of a specified axis.

- This function cannot be specified together with the slope machining function (G69) at the same time. If G69 is specified during G469 execution, the following alarm will be raised. “2263 Alarm B Data word: G code 125”

If G469 is specified during G69 execution, the following alarm will be raised. “2263 Alarm B Data word: G code 126”

Table 2-1. Slope coordinate conversion Command format list

Slope kind Command format Euler angles G469 P1 (Q___) (X___) (Y___) (Z___) I___ J___ K___ Roll - Pitch - Yaw angles G469 P2 (Q___) (X___) (Y___) (Z___) I___ J___ K___ 3 points ( G469 P3 Q0 X___ Y___ Z___ (R___) )

G469 P3 Q1 X___ Y___ Z___ (R___) G469 P3 Q2 X___ Y___ Z___ (R___) G469 P3 Q3 X___ Y___ Z___ (R___)

2 vectors G469 P4 Q1 (X___) (Y___) (Z___) I___ J___ K___ G469 P4 Q2 I___ J___ K___

Projection G469 P5 (X___) (Y___) (Z___) I___ J___ (K___) Tool axis direction G469 P6 (Q___) (X___) (Y___) (Z___) (R___)

Rotary center axis G469 P7 (X___) (Y___) (Z___)I___ J___ K___ R___ X/Y/Z-axis G469 P8 (X___) (Y___) (Z___) (I___) (J___) (K___) Slope cancel G468 (P___) * The parentheses in the table mean that they are omissible.

- 91 -

2-2-1. Euler Angles This command converts the coordinates using Euler angles (such as Z-X-Z).

Command format

G469 P1 (Q___) (X___) (Y___) (Z___) I___ J___ K___

Q : rotation sequence of an Euler angles

X, Y, Z : parallel shift amount

I : 1st rotary angle

J : 2nd rotary angle

K : 3rd rotary angle

Detail

1) Shift the zero parallel by the amount of X, Y, Z.

2) Turn by the angle I around the 1st rotary axis.

3) Turn by the angle J around the 2nd rotary axis.

4) Turn by the angle K around the 3rd rotary axis.

* Use the Q command to specify 1st, 2nd and 3rd rotary axes. (See table 2-2.)

Table 2-2. Relation between Q command and rotation sequence

Q command 1st rotary

axis 2nd rotary

axis 3rd rotary

axis Description on the Slope

Machining Parameter screen Q121 X Y X X-Y-X Q131 X Z X X-Z-X Q212 Y X Y Y-X-Y Q232 Y Z Y Y-Z-Y Q313 Z X Z Z-X-Z Q323 Z Y Z Z-Y-Z

X’

X

Y

Y’

I

Z

Z''

Z Y''Y'

J

X’K

X'

X'''

Y''' Y''

Z''

Turn around the 1st rotary axis

Turn around the 2nd rotary axis

Turn around the 3rd rotary axis

Fig. 2-2 Slope by an Euler angles (when Q313 is specified)

[Supplement]

- The parentheses in the program format above are omissible. - When a Q command is omitted, the coordinate is converted following the setting of ORDER ROT.

OF EULER ANGLES (Q OMITTED) on the Slope Machining Parameter screen.

- 92 -

2-2-2. Roll - Pitch - Yaw Angles This command converts the coordinates using Roll - Pitch - Yaw Angles (such as X-Y-Z).

Command format

G469 P2 (Q___) (X___) (Y___) (Z___) I___ J___ K___

Q : rotation sequence of Roll - Pitch - Yaw angles


I : 1st rotary angle

J : 2nd rotary angle

K : 3rd rotary angle

Detail


2) Turn by the angle I around the 1st rotary axis.

3) Turn by the angle J around the 2nd rotary axis.

4) Turn by the angle K around the 3rd rotary axis.

* Use the Q command to specify 1st, 2nd and 3rd rotary axes. (See table 2-3.)

Table 2-3. Relation between Q command and rotation sequence

Q command 1st rotary

axis 2nd rotary

axis 3rd rotary

axis Description on the Slope

Machining Parameter screenQ123 X Y Z X-Y-Z Q132 X Z Y X-Z-Y Q213 Y X Z Y-X-Z Q231 Y Z X Y-Z-X Q312 Z X Y Z-X-Y Q321 Z Y X Z-Y-X

X''

X

J

Y'

Z”

Z'

X

Y

Y'

I

Z

Z'

K

X''

X'''

Z''

Y'''Y'

Turn around the 1st rotary axis

Turn around the 2nd rotary axis

Turn around the 3rd rotary axis

Fig. 2-3 Slope by a Roll - Pitch - Yaw angles (when Q123 is specified)

[Supplement]

- The parentheses in the program format above are omissible. - When a Q command is omitted, the coordinate is converted following the setting of ORDER ROT.

OF ROLL –PITCH – YAW ANGLES (Q OMITTED) on the Slope Machining Parameter screen.

- 93 -

2-2-3. 3 Points This command converts the coordinates by specifying planes by 3 Points.

Command format

(G469 P3 Q0 (X___) (Y___) (Z___) (R___))

G469 P3 Q1 X___ Y___ Z___ (R___)

G469 P3 Q2 X___ Y___ Z___ (R___)

G469 P3 Q3 X___ Y___ Z___ (R___)

X, Y, Z : parallel shift amount based on the slope (Q0 block)

: coordinate with 3 points on a sloped plane (Q1 to Q3 block)

R : rotation angle around the Z-axis

Coordinate conversion detail

1) Assume that X, Y, Z of Q1 block is S1, that of Q2 block is S2, and that of Q3 block is S3.

When S1 is the new slope origin, the direction from S1 to S2 is the slope X-axis (X'), and on

the plane contains 3 points of S1, S2, and S3, the direction which is perpendicular to X' and

has the smaller angle formed with the line along the direction from S1 to S3 (a, b in the dia-

gram below) (Y'a in the diagram below) is the slope Y-axis (Y'). The direction with which Y' is

turned 90˚ around X' is the slope Z-axis (Z').

2) Shift the amount of X, Y, Z of Q0 block parallel based on the slope.

3) Turn by the angle R around Z''.

X”

Z”

Y'''

R

X'''Y”

Parallel shift based on a slopeSlope by 3 points Turn around Z”

X

Y

Z

X’

Y''=Y'aZ’

S1 S2

S3a

b

X''Z’

X’

Y’

Y''Z''

S1

Q0(X, Y, Z)

Y'b

Fig. 2-4 Slope by 3 points

[Supplement]

- The parentheses in the program format above are omissible. - If R command is specified to more than one block, the last command value is used. - When Q0 block is omitted, parallel shift will not be made based on the slope. - The command should be specified (Q0), Q1, Q2, and Q3 block in that order.

If there are other blocks between Q0 and Q3 block or the order of Q block command is wrong, the following alarm will be raised.

“2448 Alarm B Coordinate Change instruction missing 107” - If the specified 3 points are regarded as existing on the same line from the parameters DISTANCE

TO CONSIDER 2 POINTS TO BE THE SAME POINT or THE SHORTEST DISTANCE OF LINE AND POINT on the Slope Machining Parameter screen, the following alarm will be raised.

“2448 Alarm B Coordinate Change instruction missing 111”

- 94 -

2-2-4. 2 Vectors This command converts the coordinates by specifying planes by the X-axis vector and the Z-axis

vector.

Command format

G469 P4 Q1 (X___) (Y___) (Z___) I___ J___ K___ (R__)

G469 P4 Q2 I___ J___ K___ (R__)


I, J, K : the X-axis direction vector (Q1 block)

: the Z-axis direction vector (Q2 block)


Detail


2) Assume that I, J, K of Q1 block is the slope X-axis (X''), that of Q2block is the slope Z-axis (Z'').

Then the direction with which X'' is turned 90˚ around Z'' is the slope Y-axis (Y'').


X”

Y''

X'''Z''

Y'''

R

Z

X’

Y’

Z’

X

Y

Slope by 2 vectorsParallel shift Turn around Z”

Y''

X’

Y’

Z’

X''=Q1(I, J, K)

Z''=Q2(I, J, K)

Fig. 2-5 Slope by 2 vectors

[Supplement]

- The parentheses in the program format above are omissible. - If R command is specified to more than one block, the last command value is used. - If the difference between the angle formed by the specified 2 vectors and 90˚ is larger than

TOLERANCE OF Z AXIS VECTOR on the Slope Machining Parameter screen, the following alarm will be raised.

“2448 Alarm B Coordinate Change instruction missing 111” - If the value of specified X- and Z-axis vectors is less than the value set at DISTANCE TO

CONSIDER 2 POINTS TO BE THE SAME POINT on the Slope Machining Parameter screen, the following alarm will be raised.


- 95 -

2-2-5. Projection This command converts the coordinates by specifying planes by the X- and Y-axis projections.

Command format

G469 P5 (X___) (Y___) (Z___) I___ J___ (K___)


I : the X-axis projection angle

J : the Y-axis projection angle

K : rotation angle around the Z-axis

Detail


2) Assume that the projection vector of the X-axis (the X-axis is turned by the angle I around the

Y-axis) is Xp, and the projection vector of the Y-axis (the Y-axis is turned by the angle J around

the X-axis) is Yp.

Then the Xp is the slope X-axis (X''), and on the plane which passes through Xp and Yp, the

direction (Y''a) which is perpendicular to Xp and has the smaller angle formed with Yp (a, b in

the diagram below) is the slope Y-axis (Y''). The direction with which Y'' is turned 90˚ around X''

the slope Z-axis (Z'').


Parallel shift Slope by projection Turn around Z”

Z

X’

Y’

Z’

X

YK

Y”

X''

X'''Y'''

Z''

I

J

Z’

X''=Xp

Z''Y''=Y''a

Y’ X’

Yp

a

b

Y''b

Fig. 2-6 Slope by projection

[Supplement]

- The parentheses in the program format above are omissible. - If the angle between the X-axis projection vector and the Y-axis projection vector is smaller than

ANGLE THAT 2 VECTORS AFTER THE PROJECTION ACCORD on the Slope Machining Pa-rameter screen, the following alarm will be raised.


- 96 -

2-2-6. Tool Axis Direction This command converts the coordinates to the coordinate system where the tool axis direction is the

Z-axis.

Command format

G469 P6 (Q___) (X___) (Y___) (Z___) (R___)


Q : the coordinate system given when the tool axis direction accords to ANGLE THAT

TOOL-DIR. ACCORDS WITH Y-AXIAL-DIR. on the Slope Machining Parameter

screen


Detail


2) Assume that the tool axis inclination is the slope Z-axis (Z''), and the value set at ANGLE THAT

TOOL-DIR. ACCORDS WITH Y-AXIAL-DIR. on the Slope Machining Parameter screen is Yp.

On the plane which passes through Z'' and Yp, the direction which is perpendicular to Z'' and

has the smaller angle formed with Yp (a, b in the diagram below) (Y''a) is the slope Y-axis (Y'').

The direction with which Z'' is turned 90˚ around Y'' is the slope X-axis.

However, if the angle between Z' and Yp is smaller than the value set at ANGLE THAT

TOOL-DIR. ACCORDS WITH Y-AXIAL-DIR. on the Slope Machining Parameter screen, the

coordinate system specified with the Q command will be selected.


Table 2-4. Coordinate system by Q command

Q command X'' Y'' Z'' Description on the Slope

Machining Parameter screenQ0 * 1 * 2 * 1 PARAMETER Q1 X Y Z X-Y PLANE Q2 Y Z X Y-Z PLANE Q3 Z X Y Z-X PLANE

* 1. Follows the value set at X AXIS VECTOR OF TOOL AXIAL DIRECTION and Z AXIS VECTOR OF TOOL AXIAL DIRECTION on the Slope Machining Parame-ter screen.

* 2. The direction with which the value of X AXIS VECTOR OF TOOL AXIAL DIRECTION is turned 90˚ around the value of Z AXIS VECTOR OF TOOL AXIAL DIRECTION on the Slope Machining Parameter screen is the Y-axis di-rection vector.

Parallel shift Slope by the tool axis direction

X''

Y''Z''

X'''

Y'''

Turn around Z”

X’

Z’

Y’

YZ

X

Z

Z

X'Y'

X''

Y''=Y''a

Z'

Z''Yp

a

b

Y''b

Fig. 2-7 Slope by the tool axis direction

- 97 -

[Supplement]

- The parentheses in the program format above are omissible. - With the pre-setting at the factory, the X''' axis is set on the X-Y plane on the machine coordinate

system and the Y AXIS VECTOR OF TOOL AXIAL DIRECTION parameter is set on the Slope Machining Parameter screen so that the X''' axis is perpendicular to the tool axis direction.

- This command cancels all the defined slopes before defining the slope in the tool axis direction. - When the pulse handle override is activated, the coordinate is converted based on the tool axis di-

rection to which the manual shift amount is added. - When the Q command is omitted, CO. SYSTEM OF TOOL DIRECTION (Q OMITTED) parameter

value on the Slope Machining Function (G469) on the Slope Machining Parameter is applied. - This command supports the attachments on double-column machining centers. However, when a

swivel spindlehead attachment is used, the direction with which the tool change command (M66/M67 to M6/M77) is executed last is computed as the tool axis direction. (This can be checked by “vertical” and “horizontal” of the current tool position on the tool setting screen.)

- 98 -

2-2-7. Rotary Center Axis This command converts the coordinates by specifying the rotary center axis and the rotation angle.

Command format

G469 P7 (X___) (Y___) (Z___) I___ J___ K___ R___


I, J, K : rotary center axis vector

R : rotation angle around the rotary center axis vector

Detail


2) The vector having I, J, K is regarded as the rotary center axis. The slope is turned by the angle

R around the rotary center axis.

X’

Y’

Z’Y''

Z''

X''

R

I, J, K

Slope by rotary center axis

Z

X’

Y’

Z’

X

Y

Fig. 2-8 Slope by rotary center axis

[Supplement]

- The parentheses in the program format above are omissible. - If the rotary center axis vector (I, J, K) is smaller than the value set at DISTANCE TO CONSIDER 2

POINTS TO BE THE SAME POINT on the Slope Machining Parameter screen, the following alarm will be raised.


- 99 -

2-2-8. X, Y, Z-axis This command converts the coordinates by specifying the rotation angles around the X, Y, and

Z-axis.

Command format

G469 P8 (X___) (Y___) (Z___) (I___) (J___) (K___)


I : rotation angle around the X-axis

J : rotation angle around the Y-axis

K : rotation angle around the Z-axis

Detail

1) Shift the zero parallel with X, Y, Z.

2) When I command is given, turn by angle I is made around the X-axis.

When J command is given, turn by angle J is made around the Y-axis.

When K command is given, turn by angle K is made around the Z-axis.

Parallel shift Turn around X, Y, Z-axis

Z

X’

Y’

Z’

X

Y

X'

Y'

Z''

Y''

X''

K

Fig. 2-9 Slope by the X, Y, and Z-axis (when a command is specified around the Z-axis)

[Supplement]

- The parentheses in the program format above are omissible. - Only one command can be specified at one time among I, J, and K commands. - If two or more commands are given at the same time among I, J, and K commands, the following

alarm will be raised. “2448 Alarm B Coordinate Change instruction missing 112”

- If all of the I, J, and K commands are omitted, the following alarm will be raised. ”2448 Alarm B Coordinate Change instruction missing 113”

- 100 -

2-2-9. Slope Cancel This command cancels the slope specified with G469.

Command format

G468 (P___)

P0 : cancel by 1 level (when P is omitted)

P1 : cancel for all levels

[Supplement]

- The parentheses in the program format above are omissible.

- 101 -

2-2-10. G codes and mnemonic codes used during slope coordinate conversion - G codes used during slope coordinate conversion

The G code in the table below can be used during slope coordinate conversion.

Table 2-5 G code used during slope coordinate conversion (G469)

G code Operation during coordinate conversion RemarksG00 positioning

G01 cutting feed

G31 skip

Linear interpolation on the slope coordinate

G02 circular interpolation

G03

Circular interpolation on the slope coordinate

G10 local coordinate

system

G11

Local conversion to the slope coordinate system

G15 workpiece coordi-

nate system selection

G16

Workpiece coordinate system selection for 3D coordinate

conversion

G17 to G19 plane speci-

fication

A plane on the slope coordinate is specified, excluding planes

having any additional axis.

G22, G23 programmable

travel limit

Travel limit setting on the workpiece coordinate system (the

coordinate system 3D before coordinate conversion)

G40 to G42 tool radius

compensation

Tool radius compensation on the slope coordinate system

G43, G44 3D compensa-

tion

3D compensation on the slope coordinate system

G50, G51 zooming of

graphics

Zooming of graphics on the slope coordinate system

G53 to G59 tool length

offset

Tool length offset on the slope coordinate system * 1

G60 unidirectional posi-

tioning

Unidirectional positioning on the machine coordinate system.

(Be careful with motion when specifying the command.)

G62 programmable mir-

ror image

Mirror image is processed according to parameter bit.

The mirror image processed by the switch is the same.

* 1

Fixed cycle With the fixed cycle during coordinate conversion, the axis

which usually travels at rapid traverse is converted to cutting

feed.

* 1

G171 tool axis direction

tool length offset

Tool length offset is executed in the direction of tool axis.

* 1. Same as the slope machining function (G69). For details, see [SLOPE MACHINING FUNCTION 28-2-2. G Codes that Can Be used in the Convert Coordinate System] in [SPECIAL FUNCTIONS MANUAL No.1].

* 2. The G14 name specification and the G92 workpiece coordinate system setting cannot be specified during coordinate conversion.

- Mnemonic codes used during slope coordinate conversion

The mnemonic codes used during slope coordinate conversion are the same as the slope ma-

chining function (G69).

For details, see [SLOPE MACHINING FUNCTION 28-2-3. Mnemonic Codes Usable during

Coordinate Conversion] in [SPECIAL FUNCTIONS MANUAL No.1].

- 102 -

2-2-11. Upper limit restoration (M52) This is the same as the slope machining function (G69).

For details, see [SLOPE MACHINING FUNCTION 28-2-4. Upper Limit Return (M52)] in [SPECIAL

FUNCTIONS MANUAL No. 1].

2-2-12. axis command cancel This is the same as the slope machining function (G69).

For details, see [SLOPE MACHINING FUNCTION 28-2-5. Axis Command Cancel] in [SPECIAL


2-2-13. pulse handle override This is the same as the slope machining function (G69).

For details, see [SLOPE MACHINING FUNCTION 28-2-6. Pulse Handle Override] in [SPECIAL


- 103 -

2-3. Screen display

2-3-1. Current position display This is the same as the slope machining function (G69).

For details, see [SLOPE MACHINING FUNCTION 28-4. Displaying the Actual Position] in

[SPECIAL FUNCTIONS MANUAL No. 1].

2-3-2. Shift amount display This is the same as the slope machining function.

For details, see [SLOPE MACHINING FUNCTION 28-5. Displaying Shift Amount] in [SPECIAL


2-4. Coordinate conversion in the manual operation mode - The slope coordinate conversion command (G469) cannot be used in the manual operation mode.

- When the CO. CONV. PARAMETER TRANSFER WHEN SWITCHED TO THE MANUAL

OPERATION MODE parameter on the NC Optional Parameter (Slope Machining Function) is set

to “DOES”, the set values for 3-D coordinate conversion are all initialized (shift amount, rotation

angle = 0, rotary axis name = "disabled") when the mode is switched from the automatic operation

or MDI operation mode to the manual operation mode.

- 104 -

2-5. Program example

2-5-1. Usage example of Euler angle The following shows an example of command method to drill a hole to the slope on a cube 100 mm

on a side as shown in the diagram below.

100

100Y X

Z100

80

40

Workpiece zero

135°X' Y'

50

Z

Y X

Z'

Y' X'

Z'

Y''

X''

Z''' Y'''

X''

Z'''

Y''''

X''''

Parallel shift Turn around Z’ Turn around X’’ Turn around Z”’

Fig. 2-10 Machining example using an Euler angle

Program sample : G469 P1 Q313 X50 Y100 Z100 I-90 J45 K-90 : Z100 X40 Y80 G81 Z-30 R10 F200. G80 G468 P1 :

- 105 -

2-5-2. Usage example of 3 points The following shows an example of command method to drill a hole to the slope on a cube 100 mm

on a side as shown in the diagram below.

100

100

100

60

20

X'

Y'

Workpiece zero

Y X

Z

Y

Z

X

Workpiece zero

Before slope command Slope by 3 points

X'Y'

Z'

Fig. 2-11 Machining example using 3 points

Program sample : G469 P3 Q0 X0 Y0 Z0 G469 P3 Q1 X50 Y0 Z50 G469 P3 Q2 X0 Y50 Z50 : Z100 X60 Y20 G81 Z-30 R10 F200. G80 G468 P1 :

- 106 -

2-6. Parameter setting To use the G469 slope machining function, set the necessary parameters on the NC Optional Pa-

rameter (Slope Machining Function) screen and the Slope Machining Parameter screen. The items

shown on the Parameter screen are as follows.

2-6-1. Slope machining parameter

Fig. 2-12 Slope Machining Parameter / Slope Machining Function (G469) (1)

Table 2-6. Slope Machining Parameter / Slope Machining Function (G469) (1)

Item Setting range Default Slope type

ORDER ROT. OF EULER

ANGLES (Q OMITTED)

X-Y-X, X-Z-X, Y-X-Y,

Y-Z-Y, Z-X-Z, Z-Y-Z

Z-X-Z Euler angles

ORDER ROT. OF ROLL –PITCH –

YAW ANGLES (Q OMITTED)

X-Y-Z, X-Z-Y, Y-X-Z,

Y-Z-X, Z-X-Y, Z-Y-X

X-Y-Z Roll - Pitch - Yaw angles

DISTANCE TO CONSIDER 2

POINTS TO BE THE SAME POINT

0. 001 to 10. 000 0. 100 3 points, 2 vectors,

rotary center axis

THE SHORTEST DISTANCE OF

LINE AND POINT

0. 001 to 10. 000 0. 100 3 points, 2 vectors

TOLERANCE OF Z AXIS VECTOR 0. 0001 to 10. 0000 5. 0000 2 vectors

ANGLE THAT 2 VECTORS

AFTER THE PROJECTION

ACCORD

0. 0001 to 10. 0000 5. 0000 Projection

ANGLE THAT TOOL-DIR.

ACCORDS WITH Y-AXIAL-DIR

0. 0001 to 10. 0000 1. 0000 Tool axis direction

CO. SYSTEM OF TOOL

DIRECTION (Q OMITTED)

PARAMETER, X-Y PLANE ,

Y-Z PLANE, Z-X PLANE

X-Y PLANE Tool axis direction

- 107 -

Fig. 2-13 Slope Machining Parameter / Slope Machining Function (G469) (2)

Table 2-7. Slope Machining Parameter / Slope (G469) (2)

Item Setting range Default Slope type

X -10. 000 to 10. 000 0. 0000

Y -10. 000 to 10. 000 0. 0000

Y AXIAL DIRECTION

VECTOR OF TOOL

AXIAL DIRECTION Z -10. 000 to 10. 000 1. 0000

Tool axis direction

X -10. 000 to 10. 000 1. 0000

Y -10. 000 to 10. 000 0. 0000

X AXIS VECTOR OF

TOOL AXIAL

DIRECTION Z -10. 000 to 10. 000 0. 0000

Tool axis direction

X -10. 000 to 10. 000 0. 0000

Y -10. 000 to 10. 000 0. 0000

Z AXIS VECTOR OF

TOOL AXIAL

DIRECTION Z -10. 000 to 10. 000 1. 0000

Tool axis direction

- 108 -

2-6-2. NC optional parameter (slope machining function)

Fig. 2-14 NC Optional Parameter (Slope Machining Function)

Table 2-8. NC Optional Parameter (Slope Machining Function )

Item Setting range Default Remarks

Cutting feedrate to which the rapid

feedrate in the fixed cycle is con-

verted during coordinate conversion

operations

1 to 100000 20000 Setting unit: mm/min

ACT. POSI. DATA DISPLAY IN THE

SLOP CO. SYSTEM

WORK CO.

SLOPE CO.

WORK CO.

TOOL TIP RETRACT MOTION

DURING FIXED CYCLE

MACHINE CO.

SLOPE CO.

MACHINE CO.

CO. CONV. PARAMETER

SETTING SCREEN

1ST PAGE

2ND PAGE

1ST PAGE This paraemter is not used with

the slope machining function

(G469).

CO. CONV. PARAMETER

TRANSFER WHEN SWITCHED TO

THE MANUAL OPERATION MODE

DOES NOT

DOES

DOES NOT

This paraemter is not used with

the slope machining function

(G469).

TOOL LENGTH OFFSET IN SLOPE

COORDINATE SYSTEM

WORK CO.

SLOPE CO.

WORK CO.

- 109 -

2-7. Alarm List

2-7-1. Alarm B

2448 Coordinate Change instruction missing

The 3-D coordinate conversion command (G69, G469) is improper.

[Index]

None

[Character-string]

None

[Code]

1 : Addresses X, Y, Z, P, Q, R, and address H are designated simultaneously following G69.

2 : The value for the H command which is designated following G69 is other than 1.

3 : No rotary axis command (P, Q, or R) is designated following G69, or more than one rotary axis com-

mand is designated in one block.

4 : The axis command is canceled during coordinate conversion, or “G69 H1” is designated while no data

is set at the coordinate conversion parameter.

101 : No P command with the slope machining function (G469)

102 : No Q command with 3 points and 2 vectors.

103 : No I/J/K command with projection.

No I/J/K command with Euler angles, roll - pitch - yaw angles, 2 vectors, and rotary center axis.

104 : No R command with rotary center axis.

105 : Improper P command with the slope machining function (G469) (P < 1 or P > 8).

Improper P command with slope cancel (G468) (P ≠ 0, 1).

106 : Q command ≠ 121, 131, 212, 232, 313, or 323 with Euler angles.

Q command ≠ 123, 132, 213, 231, 312, or 321 with roll - pitch - yaw angles.

Q command ≠ 1, or 2 with 3 points.

Q command ≠ 1, 2, or 3 with 2 vectors.

Q < 0 or Q > 3 with tool axis direction.

107 : Q2 block is specified with Q1 block no specified for 3 points, 2 vectors.

Q3 block is specified with Q2 block no specified for 3 points.

108 : This alarm occurs if a command other than space or comment is specified in the same block.

A command other than space or comment is specified for 2 vectors between Q1 and Q2 blocks.

109 : The same point is specified in any of Q1, Q2, and Q3 blocks for 3 points.

110 : 0 vector is specified in either Q1 or Q2 for 2 vectors.

0 vector is specified to the rotary center axis vector for rotary center axis.

111 : Distance between the line by Q1 and Q2 and Q3 is less than setting value for 3 points.

Distance between the line by Q1 and Q2 and Q3 is less than setting value for 2 vectors.

112 : The computed Z-axis vector and the specified Z-axis vector agreed for 2 vectors.

The X-axis vector rotated around the Y-axis and the Y-axis vector rotated around the X-axis agreed

for projection.

No I/J/K command with X/Y/Z-axis.

113 : More than one I/J/K command is specified with X/Y/Z-axis.

114 : The slope machining function is specified over 11levels.

116 : No X/Y/Z command is given in the Q1, Q2, and Q3 block with 3 points.

117 : P command and H command are specified in the same block.

[Measures to Take]

Correct the faulty command.

[Related Specification]

None

- 110 -


Code which is not included in the specification was designated.

The command which cannot be specified simultaneously was designated.

[Index]

None

[Character-string]

None

[Code]

45: G469, G468 were specified although not included in the specification.


Error in program or specification code error

[Measures to Take]



Wrong G code command

[Index]

None

[Character-string]

None

[Code]

1: G11/G69/G469 (parallel/rotation shift of coordinate) and G10/G68/G468 (cancel of parallel/rotation shift of

coordinate) are specified during the G236 (copy) mode.

2: G11/G69/G469 (parallel/rotation shift of coordinate), G10/G68/G468 (cancel of parallel/rotation shift of co-

ordinate) and G237 (copy mode off) are specified in the G51 (shape enlargement/reduction) mode.

3: G11/G69/G469 (parallel/rotation shift of coordinate), G10/G68/G468 (cancel of parallel/rotation shift of co-

ordinate) and G237 (copy mode off) are specified during coordinate calculation.

15: The fixed thread cutting cycle (G178, G179, TRDL or TRDT) is specified during the following operations;

parallel or rotation shift of the coordinate (G11), enlargement/reduction (G51), copy (G236) or the inclined

surface coordinate mode (G69/G469).

18: The axis name designation (G14) is specified while any of the following operations is in progress.

- Local coordinate system setting (G11)

- Scaling (G51)

- Fixed cycle

- Cutter radius compensation (G41 or G42)

- 3-D tool compensation (G44)

- Tool side compensation (G45, G46)

- Tool length offset (G54, G55, G56)

- Circular interpolation mode including 3-D circular interpolation (G02, G03, G172, or G173)

- 3-D coordinate conversion (G69/G469)

- Cylindrical surface side machining (G175)

- An address character other than O and N is not designated after the designation of cutter radius compen-

sation cancel (G40).

- Leading edge compensation mode (G47)

20: Work coordinate system setting (G92) is specified during 3-D coordinate conversion (G69/G469).

21: The 3-D coordinate conversion ON or OFF command (G68, G468, G69, G469) is specified in the G14

mode.

22: The 3-D coordinate conversion ON or OFF command (G68/G69/G468/G469) is specified in the G11 mode.

25: The cylindrical side surface machining ON or OFF command (G175 or G174) is specified during 3-D coor-

dinate conversion (G69, G469).

27: The 3-D coordinate conversion command (G69, G469) is specified in the cylindrical side surface machining

mode (G175).

28: A 3-D circular interpolation command is specified in the 3-D coordinate conversion mode (G69, G469).

43: The slope coordinate system setting command (G69, G469) was specified during the turning cut cycle.

- 111 -

48: The unlimited circular interpolation start command (G165, G166) was specified while a slope coordinate

system (G69, G469) is being set.

103: The slope coordinate setting command (G69, G469) was specified in the leading edge compensation

mode (G47).

112: The leading edge offset mode ON command (G47) was specified during the slope coordinate system set-

ting (G69, G469).

120: Slope coordinate system setting (G69, G469) was specified in the tool side compensation mode (G45 or

G46).

123: Tool side compensation mode ON (G45 or G46) was specified while the slope coordinate system (G69,

G469) is being set.

125: A different 3D coordinate conversion setting command (G69, G68) was specified during the 3D coordi-

nate conversion (G469).

126: A different the 3D coordinate conversion setting command (G469, G468) was specified during the 3D co-

ordinate conversion (G69).

127: The second tool length offset ON/OFF command (G189, G188) was specified during the 3D coordinate

conversion (G469).

128: The 3D coordinate conversion ON command (G469) was specified during the second tool length offset

(G189).

129: The 3D coordinate conversion ON/OFF command (G468, G469) was specified during the threading

compound fixed cycle.

130: The 3D coordinate conversion ON/OFF command (G469, G468) was specified during free chamfering

(CHFC, CHFR).

131: The 3D coordinate conversion ON/OFF command (G469, G468) was specified during cutting lathe turn-

ing.

132: The maximum rotation command of the turning spindle (G450) was specified during the 3D coordinate

conversion (G469).

133: The tool nose control mode (G169) was specified during the 3D coordinate conversion (G469).

134: The 3D coordinate conversion command (G469) was specified during the tool nose control mode (G169).

135: The turning cut ON command (G149) was specified during the 3D coordinate conversion (G469).

136: The 3D coordinate conversion command (G469) was specified during the turning cut cycle (G149).

137: The 3D coordinate conversion ON/OFF command (G469, G468) was specified during the infinite circular

interpolation (G165, G166).

138: The infinite circular start/stop command (G165, G166, G164) was specified during the 3D coordinate

conversion (G469).

139: The 3D coordinate conversion ON/OFF command (G469, G468) was specified during the infinite circular

(G165, G166).

140: The lathe tool compensation ON/OFF command (G433, G432) was specified during the 3D coordinate

conversion (G469).

141: The 3D coordinate conversion ON/OFF command (G469, G468) was specified during the lathe tool com-

pensation.

142: The turning mode valid/invalid command (G431, G430) was specified during the 3D coordinate conver-

sion (G469).

143: The 3D coordinate conversion ON/OFF command (G469, G468) was specified in the turning mode.



Program example:

G52 X0

[Measures to Take]

Correct the program error which is specified by the alarm code displayed.

- 112 -

3. Slope Indexing command

3-1. Overview This function computes the rotary axis indexing angle where the Z-axis in the slope coordinate sys-

tem set with the slope coordinate conversion command (G469) accords to the tool axis direction,

and also executes indexing operation.

- This function can be used on the machines with following three types of structures: the machine

with one or two rotary axes on the spindle side, the machine with one or two rotary axes on the ta-

ble side, and the machine with one rotary axis each on the spindle and table sides.

- On the machine having rotary axes on the spindle side, the attachment swivel offset macro or the

tool axis direction tool length offset function can be used as the tool length offset.

For details, see [SECTION 1 MCM-B PROGRAMING 1-4. Swivel Compensation Command] and

[SECTION 2 PROGRAMING INSTRUCTION FOR MCM-BII, MCR-A AND MCR-A5C 2-4. Swivel

Compensation Command] in [PROGRAMING MANUAL FOR FIVE-FACE MACHINING] or see

[Tool length offset in the tool axis direction] in this manual.

- The slope coordinate systems covered by this function are those specified by the slope coordinate

conversion command (G469).

The slope machining function (G69) cannot be used with this function.

Z’X’

Y’ C

B

Z”

X” Y”

Slope coordinate system (X’, Y’, Z’)

Coordinate system after slope indexing (X”, Y”, Z”)

Fig. 3-1 Overview of the slope indexing command

- 113 -

3-2. Indexing example for each machine type This item explains the indexing example depending on machine types.

3-2-1. Two table axes type The following diagrams show the indexing example of two table axes type.

Before slope indexing command

Slope coordinate system

After slope indexing command

Z'

X'/Y'

X/YZ

X/YZ


Slope coordinate system after slope indexing

A

C

Fig. 3-2 Slope indexing command (two table axes type)

3-2-2. Table and spindle type The following diagrams show the indexing example of table and spindle type.

Before slope indexing command


X/YZ


Z'


X/YZ

X'/Y'

Slope coordinate system after slope indexing

A

C

Fig. 3-3 Slope indexing command (table and spindle type)

- 114 -

3-2-3. Two spindle axes type The following diagrams show the indexing example of two spindle axes type.

B

CBefore slope indexing command


X/YZ


X/YZ


Fig. 3-4 Slope indexing command (two spindle axes type)

- 115 -

3-3. Command format (G467)

Command format

G467 (P___)

P0 : The rotary axis angle with which the Z-axis of the slope defined by the slope coordinate

conversion command (G469) accords to the tool axis direction is computed and stored

into the system variable (Table 3-1.). This also stores other parameters for slopes.

(When the P command is omitted, it is regarded as P0 command.)

P1 : Indexes the rotary axis adding to the operation of P0.

3-4. Slope indexing operation and program sample

3-4-1. G467 P0 This item explains the slope Indexing command (G467 P0) using an example of two table axes type.

(1) Set the slope (G469) to a workpiece reference point.


X/YZ

①

Fig. 3-5 Slope coordinate system (G469) setting

(2) With "G467 P0", the rotary axis angles A and C, with which the slope Z-axis and the tool axis

direction accord each other, are computed. As the workpiece reference point will be shifted

accompanied by indexing operation, the parameter for coordinate conversion (called the pa-

rameter for slope coordinate system shift) which follows workpiece travel is output to the sys-

tem variable.

X/YZ

A C

Coordinate system before slope indexing

②

Z’

X'/Y'

Fig. 3-6 State after the slope indexing command (G467 P0) execution

- 116 -

(3) By using the system variable output in (2), issue the rotary axis indexing command.

The Z-axis of the slope and the tool axis direction will accord.

③

X/YZ

A C

Coordinate system before slope indexing

Fig. 3-7 Rotary axis indexing

(4) When the rotary axis is located on the table side, perform the slope coordinate conversion on

the workpiece reference point which has already been indexed by using the parameter for

slope coordinate system shift obtained in (2).

Z’

Coordinate system after slope indexing

X'/Y'

④

Fig. 3-8 Slope coordinate conversion after indexed

The following is the program sample.

The figure in parenthesis at the program top corresponds to the item numbers above.

Program sample of slope Indexing command (G467 P0 ) (1) G469 P_···· (2) G467 P0 (3) A=VSLRA C=VSLRC (4) G469 P4 Q1 X=VSLST[1] Y=VSLST[2] Z=VSLST[3] I=VSLVX[1] J=VSLVX[2] K=VSLVX[3] (4) G469 P4 Q2 I=VSLVZ[1] J=VSLVZ[2] K=VSLVZ[3]

- 117 -

3-4-2. G467 P1 This item explains the slope Indexing command (G467 P1) using an example of two table axes type.

(1) Set the slope (G469)


X/YZ

①

Fig. 3-9 Slope coordinate system (G469) setting

(2) With " G467 P1", the rotary axis angles A and C, with which the slope Z-axis and the tool

axis direction accord each other, are computed. As the workpiece reference point will be

shifted accompanied by indexing operation, the parameter for coordinate conversion (called

the parameter for slope coordinate system shift) which follows workpiece travel is output to

the system variable. Moreover, after the rotary axis is indexed, the slope coordinate on the

workpiece reference point which has already been indexed will be converted.

Z’

Coordinate system after slope indexing

X'/Y'

②

Fig. 3-10 State after the slope Indexing command (G469 P1) execution

The following is the program sample.

The figure in parenthesis at the program top corresponds to the item numbers above.

Program sample of slope Indexing command (G467 P1) (1) G469 P_ ···· (2) G467 P1

- 118 -

[Supplement]

- The rotary axis indexing operation by "G467 P1" will follow the axis operation mode when the com-mand is given.

Rapid traverse (G0), cutting feedrate (G1) CW rotation (M15/M115/M331), CCW rotation (M16/M116/M332), shorter indexing (M403/M404/M405), etc.

- This command determines positioning operation by the rotary axis. Specify the command at the po-sition where the workpiece will not interfere with the tool and machine structural parts.

- "G467 P1" cannot be used for the attachments including universal attachments double-column ma-chining centers.

- 119 -

3-5. System variable The following parameters are stored to the system variables with the slope Indexing command

(G467).

Table 3-1. System variables with the slope Indexing command (G467) Type Variable name Content Remarks

VSLRA A-axis command value

VSLRB B-axis command value

Indexing angle of the NC rotary axis

VSLRC C-axis command value

Computed indexing angle

VSLAB PAB command value

Indexing angle of the double-column attachment

VSLAC PAC command value

Computed indexing angle (for attachment swivel offset)

VSLST[1] to [3] Slope shift amount The shift amount from the coordinate system before in-dexing to the coordinate sys-tem after indexing

VSLVX[1] to [3] Slope the X-axis vector

The X-axis vector elements of the coordinate system after indexing

Parameter for slope coordinate system shift

VSLVZ[1] to [3] Slope the Z-axis vector

The Z-axis vector elements of the coordinate system after indexing

*1. VSLST[], VSLVX[], VSLVZ[] are used as the value of the slope coordinate conversion com-mand and 2 vectors (G469 P4) command. For details, see [2-2-4. 2 vectors ].

[Supplement]

- The system variables above are for loading only. - If loading the attachment indexing angle (VSLAB, VSLAC) is attempted on the machine which

does not use attachments, or loading NC rotary axis indexing angle (VSLRA, VSLRB, VSLRC) which does not support the slope indexing command is attempted, the following alarm will be raised.

“2671 Alarm B Slope Indexing 7” * Set the rotary axis to be controlled by the slope indexing command with the “rotary axis system

parameter”.

- 120 -

3-6. Parameter

3-6-1. Rotary axis indexing range (NC axis) Set the rotary axis indexing range of the NC rotary axis and the priority axis.

Fig. 3-11 Rotary Axis Indexing Range (NC Axis) setting screen (two spindle axes type)

Table 3-2. Slope Machining Parameter / Rotary Axis Indexing Range (NC Axis) Item Setting range Default Remarks

P LIMIT 0. 0000 to 359. 9999 0. 0000 A / B / C

N LIMIT 0. 0000 to 359. 9999 0. 0000

Set the upper limit value/lower limit value of the NC rotary axis index-ing range using the machine coor-dinate system values.

PRIORITY AXIS A / B / C - When two angles that can be in-dexed are determined, decide the indexing angle while giving priority to the specified axis. (* 1)

* 1. For details, see [3-7. How to choose the indexing angle].

- 121 -

[Supplement]

- Input range of P limit and N limit The setting range of the rotary axis indexing range (NC Axis) varies depending on the rotary axis specification. 1) The rotary axis with limit

Between the N travel limit and the P travel limit 2) Multiple rotary axes

-9720. 0000° to 9720. 0000° (1/10000°) -46800. 000° to 46800. 000° (1/1000°)

3) The infinite rotary axis 0° to 359. 9999° (1/10000°) 0° to 359. 9999° (1/1000°)

With the infinite rotary axis, the effective rotary axis indexing range will vary depending on the P limit and N limit values.

a) When the P limit is larger than the N limit: Between the N limit and the P limit

b) When the P limit is smaller than the N limit: N limit to 359. 9999, 0 to P limit (1/10000°) N limit to 359. 999, 0 to P limit (1/1000°)

270°

0 °(360°)

180°

90°

Indexing range

270°

180°

90°

Indexing range

N limit < P limit N limit > P limit

0 °(360°)

Fig. 3-12 Indexing range of infinite rotary axis

- 122 -

3-6-2. Rotary Axis Indexing Range (Attachment) Set the rotary axis indexing range and the priority axis of the attachment

- Set the rotary axis indexing range for each attachment excluding the NC-B/C-axis attachment.

- Set the indexing range of an indexing attachment regarding that it is the rotary axis of the B/C-axis

structure.

The rotary axis indexing range of an axis which has no rotary axis such as an inclined angle of

angular attachment is set by the system.

Fig. 3-13 Rotary Axis Indexing Range (Attachment) setting screen

Table 3-3. Slope Machining Parameter / Rotary Axis Indexing Range (Attachment) Item Setting range Default Remarks

P LIMIT 0. 0000 to 359. 9999 0. 0000 A / B / C

N LIMIT 0. 0000 to 359. 9999 0. 0000

Set the upper limit value/lower limit value of the attachment indexing range.

PRIORITY AXIS A / B / C - When two angles that can be in-dexed are determined, decide the indexing angle while giving priority to the specified axis. (* 1)

* 1. For details, see [3-7. How to choose the indexing angle]. * 2. ”A” can be set with no attachments. * 3. “B” and “C” cannot be set with extension attachments and “B” with angular attachments. * 4. ”Priority Axis “ is fixed to "B" and cannot be changed excluding universal attachments.

- 123 -

[Supplement]

- The rotary axis indexing range of the swivel spindlehead attachment covers between 0. 0000 and 359. 9999. However, normally set a value between 0. 0000 and 90. 0000.

- To exempt either “vertical” or “horizontal” from the target of the slope Indexing command with a swivel spindlehead attachment, set the following value to the rotary axis indexing range (B).

0. 0000 to 0. 0000 Only “vertical” can be indexed. 90. 0000 to 90. 0000 Only “horizontal” can be indexed.

- Even if the rotary axis rotation range “B” is specified between 0. 000 and 90. 0000 (both “vertical” and “horizontal” are enabled) and the “horizontal” is computed with the slope indexing command, an alarm will be raised when the tool mounting position is on “vertical”, failing in indexing.

- The slope Indexing command (G467) does not execute the tool position change of the swivel spin-dlehead attachment.

- 124 -

3-6-3. Rotary Axis Indexing When the control target axis of the slope Indexing command (G467) is a rotary axis which can be

only positioned by some degree pitches like an indexing axis, there is a case in which the slope

Z-axis direction and the tool axis direction will not accord.

If the angle formed by the slope Z-axis direction and the tool axis direction (indexing error) exceeds

the tolerance of indexing value, the following alarm will be raised.

“2671 Alarm B Slope Indexing 5”

Fig. 3-14 Rotary Axis Indexing screen

Table 3-4. Slope Machining Parameter / Tolerance of Indexing Item Setting range Default Remarks

TORERANCE OF INDEXING

0. 0001 to 10. 0000 0. 1000 Allowable value for the angle formed between the slope Z-axis direction and the tool axis direction

X'a

Y'a

Z'a Z'b

X'b

Y'bX'a, Y'a, Z'a

X'b, Y'b, Z'b The coordinate system after slope indexing when the minimum indexing angle of the rotary axis is large

Rotary axis indexing error

Tolerance of indexing angle

The coordinate system after slope indexing when the minimum indexing angle of the rotary axis is extremely small

Fig. 3-15 relation between the rotary axis indexing error and the tolerance of indexing value

- 125 -

3-7. How to choose the indexing angle Up to two sets of the indexing angle on which the Z-axis direction and the tool axis direction in the

slope coordinate system will accord are necessary for 5-axis machining centers or 5-face machining

centers. The slope indexing command determines the set of angle to be used based on the follow-

ing conditions.

1) Two sets of angles to be indexed are computed with the slope Indexing command.

2) Among them, the set of which indexing angle is within the “angle range (from the N limit to the P

limit )” of the rotary axis indexing range on the Slope Machining Parameter screen will be cho-

sen.

3) When both of two sets are within the “angle range”, the axis specified as “PRIORITY AXIS” of the

rotary axis indexing range on the Slope Machining Parameter screen, and the set which exists

closer from the current position will be chosen. (Fig. 3-16)

C0C-90 C90 C180 C270 C360

A0A-90 A90 A180A-180

A-axis indexing range (priority axis)

C-axis indexing range

1st set (A-60, C315)

2nd set (A60, C135)

A-axis current position (A-30)

Fig. 3-16 When both two sets are included “angle range”

4) When the axis is specified as “PRIORITY AXIS” and both two sets are equal in distance from the

current position, the set which is closer from the current position of the other axis will be chosen.

(Fig. 3-17)

C0C-90 C90 C180 C270 C360

A0A-90 A90 A180A-180


1st set (A-60, C315)

2nd set (A60, C135)

A-axis current position (A0)

C-axis current position (C270)


Fig. 3-17 When both two sets are equal in distance from the current position of “PRIORITY AXIS”

- 126 -

5) When both two axes are equal in distance from the current position, the indexing angle of

“PRIORITY AXIS” is converted in the machine coordinate system from 0 to 360˚. Then the set

closer to 0˚ will be chosen. (Fig. 3-18)

C0C-90 C90 C180 C270 C360

A0A-90 A90 A180A-180


1st set (A-60, C315)

2nd set (A60, C135)

A-axis current position (A0)

C-axis current position (C225)


Fig. 3-18 When both two sets are equal in distance from the current position of “PRIORITY AXIS” and

the other axis

- 127 -

3-8. Alarm List

3-8-1. Alarm B


Code which is not included in the specification was designated. The command which cannot be specified simultaneously was designated.

[Index]

None

[Character-string]

None

[Code]

45: G469, G468 were specified although not included in the specification. 46 : G467 was specified although not included in the specification.


None

[Measures to Take]

1: Correct the NC program.


None

2671 Slope Indexing

The slope indexing (G467) command is improper.

[Index]

None

[Character-string]

None

[Code]

1 : The P command is improper. 2 : An axis command was specified at the same time. 3 : Specified with another G code command at the same time. 4 : The prior axis has not been set in the slope surface parameter. 5: The slope indexing angle error has exceeded the allowable value. 6: A system variable of the rotation axis which does not support slope indexing was used. 7: A system variable of the slope indexing was used without the slope indexing specification. 8: N travel limit is larger than P travel limit. 9: The angle range is out of the travel limit range. 10: The angle range is out of the setting range with the infinite rotary axis, multi-rotary axis, or limited ro-

tary axis. 11: The angle range of the N limit is larger than the one of P limit with the multi-rotary axis or limited rotary

axis. 12: The set of the converted angles has exceeded the angle range. 13: When the N limit is larger than the P limit in the angle range with the infinite rotary axis,

P limit < 0-degree or N limit ≥ 360-degree 14: The axis structure does not allow the slope indexing function. 15: The rotary axis does not apply to the slope indexing behavior.


None

[Measures to Take]

1 : Set a value within the range. 2 : Correct the NC program.


None

- 128 -

4. I-MAP function for Slope

4-1. Overview This item describes the slope pattern cycle function in the interactive pattern cycle function of the I-MAP edit

function.

The fundamental functions are the same as those of the I-MAP edit function. For basic operations, see also the

I-MAP EDIT FUNCTION INSTRUCTION MANUAL.

4-1-1. Features The slope pattern cycle function has the following features in addition to the conventional interactive pattern cy-

cle function.

1) The slope machining function programs can be easily created with its interactive method.

2) There are eight types of slope definitions and slope indexing menus.

- 129 -

Fu

nctio

n m

enu

se

lect

ion

Pro

gra

m

edit

Gui

de

draw

ing

sele

ctio

n

I-M

AP

me

nu

Fix

ed c

ycle

Are

a m

achi

ning

Circ

ula

r cy

cle

Slo

pe

Coo

rdin

ate

cal

cula

tion

Tex

t se

lect

ion

Te

xt s

elec

tion

Gu

ide

dra

win

g se

lect

ion

Dat

a se

tting

Blo

ck in

sert

/w

rite

Che

ck O

N/

OF

F

Gui

de O

N/

OF

F

Pa

ttern

re

vers

e c

onve

rsio

n

Blo

ck in

sert

/writ

e

Gui

de O

N/O

FF

Che

ck O

N/O

FF

OK

Clo

se

Ret

urn

to m

enu

Pa

ttern

se

lect

ion

Pla

ybac

k

Men

u p

layb

ack

fun

ctio

n

Inte

ract

ive

pat

tern

cre

atio

n fu

nctio

n

(do

t-da

sh li

ne b

ox)

ind

icat

es t

he m

enu

add

ed to

the

slop

e fu

nct

ion

.

Det

ail

G4

69 g

uid

e dr

awin

g se

lect

ion

G46

9 te

xt

sele

ctio

n

G69

gui

de

draw

ing

sele

ctio

n

G6

9 te

xt

sele

ctio

n

Te

xt

sele

ctio

n

Gui

de

draw

ing

se

lect

ion

F5

(G69

se

lect

ion)

F5

(G46

9 se

lect

ion)

Te

xt

sele

ctio

n

Gui

de

draw

ing

se

lect

ion

- 130 -

4-2. Loading the slope pattern selection screen The slope pattern selection screen can be loaded by the following method.

Procedure:

1 Press [F1] (I-MAP MENU) from the function menu. The I-MAP selection menu appears.

- 131 -

2 Press the extend key and then [F5] (SLOPE MACH.). The display screen will shift to the slope

pattern selection screen.

Extend key

[F5] (SLOPE MACH.)

- 132 -

3 Press [F5] (G469 SELECT) / [F5] (G69 SELECT) from the function menu. This switches be-

tween “Slope (G469)” and “Slope (G69)”.

[F5] (G69SELECT) [F5] (G469SELECT)

- 133 -

4-3. Operation on the slope pattern selection screen

4-3-1. Pattern selection Procedure:

1 Press [F6] (GUIDE SELECT) / [F6] (TEXT SELECT) from the function menu. This switches the

pattern selection screen.

Select “1. Euler angle” by pressing [F6] (GUIDE SELECT) here as an example.

[F6] (TEXT SELECT) [F6] (GUIDE SELECT)

- 134 -

2 Select “1. EULER ANGLES” by moving the cursor key and press “Write” key or [F7] (OK). The

screen will show the data setting screen of the selected pattern

“Write” key or [F7] (OK)

- 135 -

4-3-2. Data setting Enter the appropriate data following the cursor position.

Press [F4] (BLOCK INSERT) from the function menu. After creating a program using the set data,

insert the created program into the current cursor position displayed in the program edit area.

Procedure:

1 Set the data for each item. Then press [F4] (BLOCK INSERT). A block will be inserted in the

program area, and the set data on the data setting screen will remain as they are.

2 To terminate the interactive I-MAP function, press [F8] (CLOSE). The display screen will return

to the program edit screen.

3 The guide display of the function key will be switched to the menu for I-MAP selection by press-

ing [F7] (RETURN TO MENU).

[F4] (BLOCK INSERT)

- 136 -

4-4. Setting item and program format on screens of “Slope (G469)” The setting item and program format of the Slope (G469) screens are as follows.

4-4-1. Euler Angles (N___) G469 P1 (X___) (Y___) (Z___) (Q___) I___ J___ K___

4-4-2. Roll - Pitch - Yaw Angles (N___) G469 P2 (X___) (Y___) (Z___) (Q___) I___ J___ K___

- 137 -

4-4-3. 3 Points ( (N___) G469 P3 Q0 (X___) (Y___) (Z___))

G469 P3 Q1 X___ Y___ Z___ (R___)

G469 P3 Q2 X___ Y___ Z___

G469 P3 Q3 X___ Y___ Z___

↑ Key ↓Key

- 138 -

4-4-4. 2 Vectors (N___) G469 P4 Q1 (X___) (Y___) (Z___) I___ J___ K___ (R___)

G469 P4 Q2 I___ J___ K___

- 139 -

4-4-5. Projection (N___) G469 P5 (X___) (Y___) (Z___) I___ J___ (K___)

4-4-6. Tool Axial Direction (N___) G469 P6 (X___) (Y___) (Z___) (Q___) (R___)

- 140 -

4-4-7. Rotary Center Axis (N___) G469 P7 (X___) (Y___) (Z___) I___ J___ K___ R___

4-4-8. XYZ Axis (N___) G469 P8 (X___) (Y___) (Z___) I___

(N___) G469 P8 (X___) (Y___) (Z___) J___

(N___) G469 P8 (X___) (Y___) (Z___) K___

- 141 -

4-4-9. Slope Cancel (N___) G468 P___

4-4-10. Slope Indexing (N___) G467 P___

- 142 -

4-4-11. Outline explanation of messages The guide messages are displayed on the data setting screen for easier data setting operation using

the cursor position. The following explains the outline of the guide messages.

Guide message Address character to which the guide message ap-

pears Outline explanation

Menu to which the mes-sage on the left is shown.

X-Y-X: Q121, X-Z-X: Q131, Y-X-Y: Q212, Y-Z-Y: Q232, Z-X-Z: Q313, Z-Y-Z: Q323

(1) Rotation sequence Q

Shows the turn around the X-axis is “1”, the Y-axis “2”, and the Z-axis ”3” Coordinate is converted from the left.

1. Euler angle

X-Y-Z: Q123, X-Z-Y: Q132, Y-X-Z: Q213, Y-Z-X: Q231, Z-X-Y: Q312, Z-Y-X: Q321

(2) Rotation sequence Q

Shows the turn around the X-axis is “1”, the Y-axis “2”, and the Z-axis ”3” Coordinate is converted from the left.

2. Roll - Pitch - Yaw An-gles

PARAMETER: Q0, X-Y PLANE: Q1, Y-Z PLANE: Q2, Z-X PLANE: Q3

(3) Reference coordinate system Q

Q0 follows the coordinate system set with the “Slope Machining Function G469” on the “Slope Machining Parameter” setting screen.

6. Tool axis direction

ONCE: P0, ALL: P1 (4) Canceling method P P0 cancels the slope machining function (G469) once. P1 cancels all the slope ma-chining functions.

9. Slope Cancel

DO NOT: P0 , DO: P1 (5) Indexing operation P P0 outputs the data including the indexing angle to the system variable. P1 executes indexing operation of the rotary axis in addition to P0 output.

10. Slope Indexing

- 143 -

4-4-12. Supplementary note (1) The ( ) in the program format above are omissible. They are not necessarily to be set on the

data setting screen. (The address characters of the omissible items are highlighted in gray on

the setting screen.)

If the data to be always set are not set, the following error will be shown when pressing [F4]

(BLOCK INSERT). Then the cursor moves to the data setting item which is not finished auto-

matically.

“Error 5350 Data shortage”

(2) Any of the address characters I, J, and K for X, Y, and Z-axis must be specified.

When one character among I, J, and K is specified with X, Y, and Z-axis, the rest will be cleared

automatically.

(3) When “3 points” and “2 vectors” are selected on the pattern selection screen, multiple blocks

are inserted by pressing [F4] (BLOCK INSERT).

- 144 -

4-5. Setting item and program format on screens of “Slope (G69)” The setting item and program format of the Slope (G69) screens are as follows.

4-5-1. Slope (G69) (N___) G69 P___ (X___) (Y___) (Z___)

(N___) G69 Q___ (X___) (Y___) (Z___)

(N___) G69 R___ (X___) (Y___) (Z___)

(N___) G69 H1

- 145 -

4-5-2. Slope Cancel (G68) (N___) G68

4-5-3. Outline explanation of messages The guide messages are displayed on the data setting screen for easier data setting operation using

the cursor position. The following explains the outline of the guide messages.

Guide message Address character to which the guide message ap-

pears Outline explanation

Menu to which the mes-sage on the left is shown.

DISABLED: no H command , ENABLED: H1 (1) Coordinate conversion parameter H When no H command is given, the screen

set value is used. When the H1 command is given, the slope will be defined according to the set value at “3D coordinate conversion” in the manual operation mode.

1. Slope

4-5-4. Supplementary note The ( ) in the program format above are omissible. They are not necessarily to be set on the data

setting screen.

- 146 -

4-6. Convert

4-6-1. Conversion example The slope machining function in the NC program is converted and displayed on the data setting

screen where the guide drawing is shown. This allows the slope machining functions created in the

past to be easily corrected or checked.

The following shows an example procedure to change the roll - pitch - yaw angles data.

1) Press [F1] (I-MAP MENU) from the function menu on the program edit screen to show the

I-MAP selection menu from the function key guide display.

2) Locate the cursor to the top character of the G code of the slope machining function.

3) Press [F6] (Convert).

The screen on which data have been set for each setting item appears.

- 147 -

Cursor position

[F6] (CONVERT)

(Re-setting data)

- 148 -

Change from 30 to 60

Overwritten block

[F4] (BLOCK INSERT)

- 149 -

4-6-2.Supplementary note (1) When the Q command is other than 121, 131, 212, 232, 313, and 323 in the re-

verse-conversion of an Euler angles, the following error will be raised.

“Error 5340 Convert code ’Q’”

(2) When the Q command is other than 123, 132, 213, 231, 312, and 321 in the re-

verse-conversion of a roll - pitch - yaw angles, the following error will be raised.


(3) When the Q command is Q < 0, and 3< Q in the reverse-conversion of a tool axis direction,

the following error will be raised.


(4) When the cursor position is located at other than Q1 block in the reverse-conversion of 2 vec-

tors, the following error will be raised.

“Error 5352 No convert pattern 3F’ ’”

(5) When the Q1 and Q2 blocks are not in series, and when the R command exists in the multiple

blocks where only the Q1 block is targeted for reverse conversion, in the reverse-conversion

of 2 vectors, the last R command is applied.

(6) When the cursor position is located at other than Q0 or Q1 block in the reverse-conversion of

3 points, the following error will be raised.

“Error 5352 No convert pattern 3F’ ’”

(7) When the blocks are not in series from (Q0) Q1 to Q3 in the reverse-conversion of 3 points,

only the blocks in series will be processed by reverse conversion. When the R command ex-

ists in the multiple blocks, the last R command is applied.

(8) When I, J, and K commands are specified at the same time in the reverse-conversion of X, Y,

and Z, the following error will be raised.

“Error 5472 Exclusive data”

(9) When the P command is other than 0 and 1 in the reverse-conversion of a slope indexing, the

following error will be raised.

“Error 5340 Convert cod ’P’”

(10) In conversion, if the same address character is specified two or more times in one block, the

value of the address character specified first is applied.

- 150 -

PART 2 PARAMETERS

- 151 -

SECTION 1 ROTARY AXIS PARAMETERS

1. ROTARY AXIS PARAMETERS The rotary axis parameters consist of a maximum of four pages. The displayed number of pages de-

pends on the rotary axis specifications.

The rotary axis parameter screen shows the following items.

1-1. Rotary Axis Attribute The ROTARY AXIS ATTRIBUTE display is used to set the fundamental attributes of the rotary axes

such as axis names, rotating directions, and multi-turn function.

Fig. 1-1 ROTARY AXIS ATTRIBUTE display

■ AXIS NAME: STRUCTURE

The current rotary axis structure is displayed with the names based on the ISO standard.

A-axis: Rotary axis around X-axis

B-axis: Rotary axis around Y-axis

C-axis: Rotary axis around Z-axis

- 152 -

AXIS NAME: APPOINTMENT Set the rotary axis names used for the axis commands in the part program. Initial setting Setting range - A / B / C

[Supplement] 1) When using 5-axis machining function (such as tool nose control), be sure to set the same name

as AXIS NAME: STRUCTURE. If a different name is specified, the 5-axis machining function be-comes invalid and the following alarm occurs:

4347 Alarm D 5-axis machining func.: Illegal rotary axis param.

REV. DIR.: CHANGE Set whether the rotary axis moves in the factory-set direction or not. Initial setting Setting range NO NO / YES

[Supplement] 1) When using 5-axis machining function (such as tool nose control), be sure to set REV. DIR.:

CHANGE to NO, and REV. DIR. ISO to ACCORD. Install and set the rotary axis so that the ac-tual rotary axis direction is based on the ISO standard by this setting.

2) If the rotary axis exists when the machine is shipped, the REV. DIR. CHANGE is set to NO, and the REV. DIR.: ISO is set to ACCORD. The rotary axis is set so that the rotating direction of the actual rotary axis is based on ISO standard by this setting.

3) If this parameter is changed, the parameters of the objective rotary axis must be also changed, i.e. ZERO OFFSET (MACHINE), WORK ZERO OFFSET, TRAVEL LIMIT, and HOME POSITION. For details, refer to “ADDITIONAL AXIS (ROTARY AXIS)” in SPECIAL FUNCTIONS MANUAL No.1.

REV. DIR.: ISO

Set whether the actual rotating direction of the rotary axis is based on the ISO standard or not. Initial setting Setting range ACCORD ACCORD / DISACCORD

[Supplement] 1) When using 5-axis machining function (such as tool nose control), be sure to set REV. DIR.:

CHANGE to NO, and REV. DIR. ISO to ACCORD. Install and set the rotary axis rotating direction so that the actual rotary axis direction is based on ISO standard by this setting.

2) If the rotary axis exists when the machine is shipped, the REV. DIR. CHANGE is set to NO, and the REV. DIR.: ISO is set to ACCORD. The rotary axis is set so that the rotating direction of the actual rotary axis is based on ISO standard by this setting.

MULTI-TURN

Select whether the multi-turn function for each axis is effective (multi-turn) or ineffective (unlimited turn). For details, refer to “ADDITIONAL AXIS (ROTARY AXIS), 2. Multi-turn Specification” in SPECIAL FUNCTIONS MANUAL No.1. Initial setting Setting range INEFFECT INEFFECT / EFFECT

- 153 -

COR. AXIS Select the basic axes which correspond to the rotary axes. The corresponding basic axes are used for cylinder side face machining in. For details, refer to “SPECIAL FUNCTIONS MANUAL No. 1 SECTION 17 ADDITIONAL AXIS (ROTARY AXIS)” and “SPECIAL FUNCTIONS MANUAL No. 1 SECTION18 CYLINDER SIDE MACHINING FUNCTION.” Initial setting Setting range *** *** / +Xp / -Xp / +Yp / -Yp / +Zp / -Zp

AT THE NC RESET, ROUND ACT POSI (WORK) UNDER 360 deg

When a rotary table is reset during multi-turn operation, the rotary axis angle can be converted to a work coordinate system value within 360 degrees. This parameter determines whether such conver-sion is done or not. For details, refer to “SPECIAL FUNCTIONS MANUAL No. 1, SECTION 17, ADDITIONAL AXIS (ROTARY AXIS)”. Initial setting Setting range NO NO / YES

Rotary axis configuration guide drawing

At the lower left of the screen, a guide drawing is displayed according to the rotary axis configuration. For the axis names in the drawing, the left side of the arrow shows AXIS NAME: STRUCTURE and the right side of the arrow shows the AXIS NAME: APPOINTMENT.

Example of two rotary axes in the table

(The C-axis exists on the A-axis.)

Example of two rotary axes on the spindle side

(The B-axis exists on the C-axis.)

Example of rotary axis each on the table and the spindle

(The table has the C-axis and the spindle has the

B-axis.)

Fig. 1-2 Rotary axis structure guide drawing

- 154 -

1-2. Rotation Center The ROTATION CENTER display is used to set the rotary axis center position.

Fig. 1-3 ROTATION CENTER display (Example of two axes in the table)

[Supplement]

1) This screen is displayed when any of the following specifications is selected; Tool Nose Control, Tool Axial

Direction, Tool Length Compensation, Tool Attitude Command, Pivot Distance Compensation, and Tool Nose

Center Feed.

2) The screen does not display the input items which do not need setting according to the rotary axis attribute.

DISPLAY COORDINATE

Set the work zero point number used when setting the rotary axis center position.

Initial setting Setting range

0 0 to the maximum value of the work coordinate system

[Supplement]

1) Set “0” when setting center position with the machine coordinate system.

2) The maximum work coordinate system number varies with the machine specifications

- 155 -

( ROTATION CENTER (SPINDLE / TABLE)

Set the rotation center of a rotary axis in the spindle or the table.

- For the rotary axis in the spindle, set the relative position from the spindle reference position for the

tool length offset (gauge line, reference bar end face, etc.)to the rotation center position of each ro-

tary axis.

- For the rotary axis in the table, set the rotation center position of each rotary axis with regard to the

spindle reference position.

Only for the rotary axis in the table, it is possible to set the rotation center position of each rotary

axis so that the entered value becomes the actual position by pressing [F3] (CAL).

Initial setting Setting range Setting unit

- -99999.999 to 99999.999 Selected unit system

[Supplement]

1) The setting items are displayed according to the structure of the rotary axes.

The above screen shows the figures of the table having C- and A-axes.

2) These parameter values cannot be changed during program operation or axis movement.

If attempted, the following error will occur: Error 9460 Cannot operate during running or axes moving

3) The rotation center position varies with the rotary axes structure as shown in the figures below. For the procedure of measuring the rotation center, refer to “PROCEDURE FOR MEASURING AND

SETTING ROTARY AXIS CENTER POSITION.”

主軸側２軸構成の例（B/C軸）テーブル側２軸構成の例（C/A軸）

X

Z

X

Y

主軸基準位置

第１回転軸(B)旋回中心位置

第２回転軸(C)旋回中心位置

第２軸回転軸(A)旋回中心位置

第１軸回転軸(C)旋回中心位置

原点

Fig. 1-4 Rotary axis rotation center positions (table / spindle)

Rotation center position of the 1st rotary axis (B)

Rotation center position of 2nd rotary axis (A)

Rotation center position of 1st rotary axis (C)

Example of two rotary axes inthe spindle (B/C-axes)

Example of two rotary axes in the table (C/A-axes)

Rotation center position of 2nd rotary axis (C)

Spindle referenceposition

Zero point

- 156 -

1-3. Pivot Distance Compensation There is a difference between the center position set in the rotary axis rotation center position setting screen

and the actual rotation center position. The PIVOT DISTANCE COMPENSATION display is used to set this

difference as the pivot distance compensation amount.

Fig. 1-5 PIVOT DISTANCE COMPENSATION display (Example of two axes in the table)

[Supplement]

1) This screen is displayed only when the pivot distance compensation function is selected. For details, refer to “ROTARY AXIS PIVOT DISTANCE” in thits manual.

- 157 -

PART 3 PROCEDURES FOR MEASURING

AND SETTING ROTARY AXIS

CENTER POSITION

- 158 -

SECTION 1 TWO ROTARY AXES ON THE TABLE (ROTARY C-AXIS/INCLINED A-AXIS)

1. OVERVIEW This section explains rotary axis center position measurement and parameter setting procedures for ma-

chines with the following structure: two rotary axes on the table side and C-axis on the A-axis.

The rotary axis center position is used with 5-axis machining functions, including the tool center point control

function, and the pivot distance compensation function.

The rotary axis center position is pre-set at the factory. However, if the reference point of the tool changes,

if enhanced working accuracy is desired, or if the rotary axis center changes over time, the rotary axis center

position should be measured and the parameter set in accordance with the instructions in this manual.

X

Y

Z Y

Z

X

Fig. 1-1 Overview of rotary axis center positions

2. MEASURING ROTARY AXIS CENTER POSITION This section covers measuring the rotation center of both the C-axis and A-axis. This instruction manual ex-

plains the procedure for measuring the rotary axis center position with a cylindrical block installed on the ta-

ble and the reference tool (test bar) mounted on the spindle side.

[Supplement]

1) Ensure each of the following conditions is met when measuring the rotary axis center position or setting the

rotary axis parameter.

• Tool center point control function: OFF

• 3D feed switch: OFF

• Pivot distance compensation function: DISABLED (INEFFECT)

If the pivot distance compensation function is available, refer to the “ROTARY AXIS PIVOT DISTANCE

COMPENSATION FUNCTION” for details.

2) In the example measurement below, the rotation center is described as the coordinate value of the machine

coordinate system.

3) Allow for the cutter radius when measuring the position.

C-axisrotation center

C-axisrotationcenter

A-axisrotation center

A-axis rotation center

- 159 -

2-1. Measuring the Position of the C-axis Rotation Center This section covers measuring the position of the C-axis rotation center with the A-axis at 0°.

1. Position the A-axis at 0°.

2. Position the C-axis at 0°.

3. Measure the top of the cylindrical block (R1x) by moving the reference tool closer from the positive side of

the X-axis.

4. Measure the top of the cylindrical block (R1y) by moving the reference tool closer from the positive side of

the Y-axis.


6. Measure the top of the cylindrical block (R2x) by moving the reference tool closer from the negative side

of the X-axis.

7. Measure the top of the cylindrical block (R2y) by moving the reference tool closer from the negative side

of the Y-axis.

(R1x, R1y)

X

Y

Z (R2x, R2y) X

Y

Z

Fig 1-2. Measuring the position of the C-axis rotation center

8. Obtain the position of the C-axis rotation center from the measured positions above.

The position of the C-axis rotation center Rc = (Rcx, Rcy) can be obtained using the following formula.

221,

221 yRyRRcyxRxRRcx +

=+= 　

Measured with C at 0° Measured with C at 180°

Cylindrical block

C-axis rotation center C-axis rotation center

- 160 -

2-2. Measuring the Position of the A-axis Rotation Center This section covers measuring the position of the A-axis rotation center.



3. Measure the top of the cylindrical block (P1z) by moving the reference tool closer from the positive side of

the Z-axis.

4. Measure the top of the cylindrical block (P1y) by moving the reference tool closer from the positive side of

the Y-axis.

5. Position the A-axis at -90°.

6. Measure the top of the cylindrical block (P2z) by moving the reference tool closer from the negative side

of the Z-axis.

7. Measure the top of the cylindrical block (P2y) by moving the reference tool closer from the negative side

of the Y-axis.

A0°位置での測定 A-90°位置での測定

A軸旋回中心

円筒ブロック

(P1y, P1z)

Y

Z

X

A軸旋回中心

(P2y, P2z)

Y

Z

X

Fig 1-3. Measuring the position of the A-axis rotation center

8. Obtain Length L from the end face of the reference tool to the reference point for tool length offset

• When the reference point for tool length offset is the end face of the spindle, L is the distance from the

end face of the spindle to the end face of the reference tool.

• When the reference point for tool length offset is the end face of the reference tool, L = 0.

L

基準工具端面

工具長補正基準位置

Fig. 1-4 Reference point for tool length offset

Cylindrical block

A-axis rotation center A-axis rotation center

Measured with A at 0° Measured with A at -90°

End face of reference tool

Reference point fortool length compensa-tion

- 161 -

9. Calculate the top point of the cylindrical block in the Z-axis direction using the Length L obtained from step

8. The top point of the cylindrical block can be obtained using the following formula.

LzPzPLzPzP

−=−=

2'21'1

10. Obtain the position of the A-axis rotation center from the above measurements.

The position of the A-axis rotation center Ra = (Ray, Raz) can be obtained using the following formula.

2'2'121,

2'2'121 zPzPyPyPRazzPzPyPyPRay +++−

=−++

= 　

- 162 -

3. SETTING ROTARY AXIS PARAMETERS Set the values measured in “2. MEASURING ROTARY AXIS CENTER POSITION” on the PIVOT

DISTANCE COMPENSATION display or ROTATION CENTER display of the rotary axis parameter setting

display, in parameter setting mode.

Carry out these settings on the PIVOT DISTANCE COMPENSATION display or the ROTATION CENTER

display, depending on whether or not the pivot distance compensation function is available.

Fig. 1-5 Procedure for setting rotary axis parameter

[Supplement]

The pivot distance compensation function adjusts the error between the actual value and the esti-mated value at the rotary axis rotation center. Therefore, when the rotation center set at the factory is handled as the reference value, for example, errors can be adjusted by setting the change amount of the rotation center value generated with time lapse and machine usage on the PIVOT DISTANCE COMPENSATION display. When the pivot distance compensation function is not provided, or not using the function, set the measured value on the ROTATION CENTER display.

End settings com-

Start setting parame-

Yes

Yes

No

No

3-2. Setting Values on the Rotation Center Display

Pivot distance compensation function

available?

Use pivot distance compensation

function?

3-1. Setting Values on the Pivot Distance Com-pensation

- 163 -

3-1. Setting Values on the Pivot Distance Compensation Display Set the measured rotary axis center positions on the PIVOT DISTANCE COMPENSATION display.

Position each rotary axis at 0° before carrying out these settings.

1. Switch to the parameter setting mode.

2. Press [F8] (DISPLAY CHANGE)

Use the Up/Down keys to choose ROTARY AXIS PARAMETER from the menu, and then press [F8]

(CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ROTARY AXIS PARAMETER display will

be shown.

3. If you press the page key, the PIVOT DISTANCE COMPENSATION display in Fig. 1-6 will be shown.


4. Set the work zero number during measurement in the DISPLAY COORDINATE box.

[Supplement]

1) In the DISPLAY COORDINATE box, set the work zero number used when carrying out the measurements.

Having carried out measurements with the machine coordinate system, set “0” before carrying out each

measurement.

- 164 -

5. If you select [F5] (TABLE CENTER), the TABLE CENTER pop-up window will be shown.

Fig. 1-7 PIVOT DISTANCE COMPENSATION/TABLE CENTER display

6. Set the rotation center position of the rotary axis obtained in “2. Measuring Rotary Axis Center Position” to

the ‘C-axis rotation center’ and ‘A-axis rotation center.’

Parameter Value to be set Reference

X 2

21 xRxRRcx +=

Y 2

21 yRyRRcy +=

C-AXIS

ROTATION

CENTER

Z None (Settings disabled)

2-1. Measuring the

Position of the C-axis

Rotation Center

X None (Settings disabled)

Y 2'2'121 zPzPyPyPRay −++=

A-AXIS

ROTATION

CENTER

Z 2'2'121 zPzPyPyPRaz +++−=

2-2. Measuring the

Position of the A-axis

Rotation Center

If you select [F7] (UPDATE) after carrying out the settings, the pivot distance from the values you have

set and the rotation center positions set in ROTARY AXIS PARAMETER/ROTATION CENTER

MEASUREMENT is calculated. The pop-up window closes, and the target axis pivot distance is updated.

If you select [F8] (CANCEL), the set value is canceled, and the pop-up window closes.

7. Set PIVOT DISTANCE COMPENSATION to ‘ENABLED (EFFECT)’

8. Process complete.

- 165 -

3-2. Setting Values on the Rotation Center Display This section covers setting the measured rotary axis center position on the ROTATION CENTER display.




(CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ‘rotary axis parameter’ display will be

shown.

3. If you press the page key, the ROTATION CENTER display will be shown.

Fig. 1-8 The ROTATION CENTER display


[Supplement]

1) In the DISPLAY COORDINATE box, set the work zero number used when carrying out the measure-

ments.


measurement.

- 166 -

5. Set the measured rotary axis center positions to the C-AXIS ROTATION CENTER and A-AXIS

ROTATION CENTER.


X 2

21 xRxRRcx +=

Y 2

21 yRyRRcy +=

C-AXIS

ROTATION

CENTER


2-1. Measuring the


Rotation Center


Y 2'2'121 zPzPyPyPRay −++=

A-AXIS

ROTATION

CENTER

Z 2'2'121 zPzPyPyPRaz +++−=

2-2. Measuring the

Position of the A-axis

Rotation Center


- 167 -

SECTION 2 TABLE AXIS AND SPINDLE AXIS (ROTARY C-AXIS ON THE TABLE AND INCLINED A- OR B-AXIS OF THE SPINDLE)

1. OVERVIEW This section explains rotary axis center position measurement and parameter setting procedures for ma-

chines with the following rotary axes: C-axis on the table side and A-axis (MILLAC-800VH*) or B-axis

(MILLAC-1000VH*) on the spindle side.

The rotary axis center position is used with 5-axis machining functions, including the tool center point control

function, and the pivot distance compensation function.

The rotary axis center position is pre-set at the factory. However, if the reference point of the tool changes, if

enhanced working accuracy is desired, or if the rotary axis center changes over time, the rotary axis center

position should be measured and the parameter set in accordance with the instructions in this manual.

YZ

XY

Z

X

C軸旋回中心位置

A軸旋回中心位置

A軸旋回中心位置

C軸旋回中心位置


C-axisrotationcenter

C-axis rotation center

A-axisrotationcenter

A-axis rotationcenter

- 168 -

2. MEASURING ROTARY AXIS CENTER POSITION This section covers measuring the rotation center of both the rotary axis on the table side (C-axis) and the

rotary axis on the spindle side (A-axis or B-axis).

This instruction manual explains the procedure for measuring the rotary axis center position with dial gauges

installed on the table and the reference tool (test bar) mounted on the spindle side.

Refer to each of the following sub-sections, according to the model of the machine.

Fig 1-2. Procedure for measuring rotary axis center position

[Supplement]

1) Ensure each of the following conditions is met when measuring the rotary axis center position or setting the

rotary axis parameter.

• Tool center point control function: OFF

• 3D feed switch: OFF

• Pivot distance compensation function: DISABLED (INEFFECT)

If the pivot distance compensation function is available, refer to the ROTARY AXIS PIVOT DISTANCE

COMPENSATION FUNCTION for details.

2) In the example measurement below, the rotation center is described as the coordinate value of the machine

coordinate system.


A-axis

B-axis

2-1. Measuring the Position of the C-axis Rotation Center

End measurement

2-2. Measuring the Position of the A-axisRotation Center

2-3. Measuring the Position of the B-axisRotation Center

Start measurement

Rotary axis onspindle side

- 169 -

2-1. Measuring the Position of the C-axis Rotation Center This section covers measuring the position of the C-axis rotation center.

In the following explanation, Gauge 1 is for measuring the X-axis and Gauge 2 is for measuring the Y-axis.

1. Position the rotary axis on the spindle side (A-axis or B-axis) at 0°.


3. Move the reference tool toward Gauge 1 from the positive side of the X-axis and measure the position of

the X-axis on the positive side (R1x).

4. Move the reference tool toward Gauge 2 from the positive side of the Y-axis and measure the position of

the Y-axis on the positive side (R1y).


6. Move the reference tool toward Gauge 1 from the negative side of the X-axis and measure the position of

the X-axis on the negative side (R2x).

7. Move the reference tool toward Gauge 2 from the negative side of the Y-axis and measure the position of

the Y-axis on the negative side (R2z).

X

Y

Z X

Y

Z

C0°位置での測定

C軸旋回中心計測器１

計測器2

R1y

R1x

C180°位置での測定

C軸旋回中心

計測器１

計測器2R2x

R2y

Fig 1-3. Measuring the position of the C-axis rotation center

8. Obtain the position of the C-axis rotation center from the measured positions above.

The position of the C-axis rotation center Rc = (Rcx, Rcy) can be obtained using the following formula.

221,

221 yRyRRcyxRxRRcx +=+=

Gauge 1

Gauge 2

Gauge 1

Gauge 2



Measured with C at 0° Measured with C at 180°

- 170 -

2-2. Measuring the Position of the A-axis Rotation Center (MILLAC-800VH, etc.) Obtain the difference between the reference point for tool length offset and the position of the A-axis rotation

center with the A-axis in the 0° position.

Y

Z

X

Fig. 1-4 Position of the A-axis rotation center

In the following explanation, Gauge 3 is for measuring the Y-axis and Gauge 4 is for measuring the Z-axis.




the Y-axis (P1y).

4. Move the reference tool toward Gauge 4 from the positive side of the Z-axis and measure the position of

the Z-axis (P1z).

5. Position the A-axis at -90°.


the Y-axis (P2y).


the Z-axis (P2z).

P2y

P2z

Y

Z

X

P1y

P1z

Y

Z

X

Fig. 1-5 Measuring the position of the A-axis rotation center, Schematic diagram 1

8. Calculate the difference (Ly, Lz) for each position of the tip of the reference tool when the A-axis is at 0°

and -90°, based on the values of the positions measured so far.


Reference pointfor tool length compensation


Gauge 4

Gauge 3 Gauge 3

Gauge 4

Measured with A at 90° Measured with A at 0°

- 171 -

Ly is the difference in the position of the tip of the reference tool on the Y-axis between A at 0° and at

-90°.

Lz is the difference in the position of the tip of the reference tool on the Z-axis between A at 0° and at

-90°.

Ly

Lz

Y

Z

X

Fig. 1-6 Measuring the position of the A-axis rotation center, Schematic diagram 2

The difference (Ly, Lz) is given by the following formula.

zPzPLzyPyPLy 21,21 −=+−=

9. Obtain Length L from the end face of the reference tool to the reference point for tool length offset.

When the reference point for tool length offset is the end face of the spindle, L is the distance from the


When the reference point for tool length offset is the end face of the reference tool, L = 0.

L


10. Subtract L obtained in 9 above from Ly and Lz to obtain the difference from the reference point for tool

length offset.

LLzLzLLyLy −=−= ','


The position of the A-axis rotation center Ra = (Ray, Raz) can be obtained using the following formula.

2'',

2'' LyLzRazLyLzRay +=−=



Reference point fortool length compensation

- 172 -

2-3. Measuring the Position of the B-axis Rotation Center (MILLAC-1000VH, etc.) Obtain the difference between the reference point for tool length offset and the position of the B-axis rotation

center with the B-axis in the 0° position.

X

Z

Y

Fig. 1-8 Position of the B-axis rotation center

In the following explanation, Gauge 3 is for measuring the Y-axis and Gauge 4 is for measuring the Z-axis.


2. Position the B-axis at 0°.


the X-axis (P1x).


the Z-axis (P1z).



the X-axis (P2x).


the Z-axis (P2z).

P1x

P1z

X

Z

Y

P2x

P2z

X

Z

Y

Fig. 1-9 Measuring the position of the B-axis rotation center, Schematic diagram 1

8. Calculate the difference (Lx, Lz) for each position of the tip of the reference tool when the B-axis is at 0°

and 90°, based on the values of the positions measured so far.

Measured with B at 0°

B-axisrotation center

Reference pointfor tool length compensation

Measured with B at 90°

Gauge 4

Gauge 3

Gauge 4

Gauge 3

Gauge 4

Gauge 3


- 173 -

Lx is the difference in the position of the tip of the reference tool on the X-axis between B at 0° and at

90°.

Lz is the difference in the position of the tip of the reference tool on the Z-axis between B at 0° and at

90°.

Lx

Lz

X

Z

Y

Fig. 1-10 Measuring the position of the B-axis rotation center, Schematic diagram 2

The difference (Lx, Lz) is given by the following formula.

zPzPLzxPxPLx 21,21 −=+−=


When the reference point for tool length offset is the end face of the spindle, L is the distance from the


When the reference point for tool length offset is the end face of the reference tool, L = 0.

L


10. Subtract L obtained in 9 above from Lx and Lz to obtain the difference from the reference point for tool

length offset.

LLzLzLLxLx −=−= ','

11. Obtain the position of the B-axis rotation center from the above measurements.

The position of the B-axis rotation center Rb = (Rbx, Rbz) can be obtained using the following formula.

2'',

2'' LxLzRbzLxLzRbx +=−=


Reference point fortool length compensation


- 174 -

3. SETTING ROTARY AXIS PARAMETERS Set the values measured in “2. MEASURING ROTARY AXIS CENTER POSITION” on the ‘PIVOT

DISTANCE COMPENSATION’ display or ‘ROTATION CENTER’ display of the rotary axis parameter setting

display, in parameter setting mode.

Carry out these settings on the ‘PIVOT DISTANCE COMPENSATION’ display or the ‘ROTATION CENTER’



[Supplement]

The pivot distance compensation function adjusts the error between the actual value and the estimated

value at the rotary axis rotation center. Therefore, when the rotation center set at the factory is handled as

the reference value, for example, errors can be adjusted by setting the change amount of the rotation center

value generated with time lapse and machine usage on the PIVOT DISTANCE COMPENSATION display.

When the pivot distance compensation function is not provided, or not using the function, set the measured

value on the ROTATION CENTER display.

End settings com-

Yes

Yes

No

No

3-1. Setting Values on the Pivot Distance Compensation Display 3-2. Setting Values on the Rotation Center Display

Start setting parameters


function available?

Use pivot dis-tance

compensation function?

- 175 -

3-1. Setting Values on the Pivot Distance Compensation Display Set the measured rotary axis center positions on the “PIVOT DISTANCE COMPENSATION” display.




Use the Up/Down keys to choose ‘ROTARY AXIS PARAMETER’ from the menu, and then press [F8]

(CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ‘ROTARY AXIS PARAMETER’ display will

be shown.

3. If you press the page key, the ‘PIVOT DISTANCE COMPENSATION’ display in Fig. 1-13 will be shown.

Fig. 1-13 PIVOT DISTANCE COMPENSATION display (Example shown for MILLAC-800VH)

4. Set the work zero number during measurement in the ‘DISPLAY COORDINATE’ box.

[Supplement]

1) In the ‘DISPLAY COORDINATE’ box, set the work zero number used when carrying out the measurements.


measurement.

- 176 -

5. Set the rotary axis center position on the spindle side

If you select [F4] (SPINDLE CENTER), the SPINDLE CENTER pop-up window will be shown.

Fig. 1-14 PIVOT DISTANCE COMPENSATION/SPINDLE CENTER (With the A-axis as the rotary axis on the spindle side.)

Set the measured rotary axis center positions to the relevant parameters in the table below in accor-

dance with the machine model.

Model Parameter Value to be set Reference


Y2

'' LyLzRay −=

When the A-axis is the

rotary axis on the

spindle side.

(MILLAC-800VH, etc)

S-BASE->A-AX.ROT.CENTER.

Z2

'' LyLzRaz +=

2-2. Measuring

the Position of

the A-axis Ro-

tation Center

X2

'' LxLzRbx −=

Y None (Settings disabled)

When the B-axis is the

rotary axis on the

spindle side.

(MILLAC-1000VH,

etc)

S-BASE->B-AX.ROT.CENTER.

Z2

'' LxLzRbz +=

2-3. Measuring

the Position of

the B-axis Ro-

tation Center


set and the rotation center positions set in ‘ROTARY AXIS PARAMETERS/ROTATION CENTER:

MEASUREMENT’ is calculated. The pop-up window closes, and the pivot distance is updated for the

relevant axis.

If you select [F8] (CANCEL), the set value is canceled and the pop-up window closes.

- 177 -

6. Set the rotary axis center position on the table side

If you select [F5] (TABLE CENTER), the TABLE CENTER pop-up window will be shown.

Fig. 1-15 PIVOT DISTANCE COMPENSATION/TABLE CENTER

Set the ‘C-AXIS ROTATION CENTER’

Set the values obtained in “2-1. Measuring the Position of the C-axis Rotation Center” to the X-axis and

the Y-axis of the C-axis rotation center.


X2

21 xRxRRcx +=

Y2

21 yRyRRcy += Common to all models

C-AXIS

ROTATION

CENTER


2-1. Measuring the


Rotation Center


set and the rotation center positions set in ‘ROTARY AXIS PARAMETER/ROTATION CENTER

MEASUREMENT’ is calculated. The pop-up window closes, and the C-AXIS PIVOT is updated.


7. Set ‘pivot distance compensation’ to ‘ENABLED (EFFECT)’


- 178 -

3-2. Setting Values on the Rotation Center Display This section covers setting the measured rotary axis center position on the ROTATION CENTER display.



Use the Up/Down keys to choose ‘ROTARY AXIS PARAMETER’ from the menu, and then press [F8]

(CLOSE).

When you close the display change pop-up window, the ‘ROTARY AXIS PARAMETER’ display will be

shown.

3. If you press the page key, the ‘ROTATION CENTER’ display will be shown.

Fig 1-16 The ‘ROTATION CENTER’ display (With the A-axis as the rotary axis on the spindle side)

Fig 1-17 The ‘ROTATION CENTER’ display (With the B-axis as the rotary axis on the spindle side)

- 179 -

4. Set the work zero number during measurement in the ‘DISPLAY COORDINATE’ box.

[Supplement]

1) In the ‘DISPLAY COORDINATE’ box, set the work zero number used when carrying out the measurements.


measurement.

5. Set the measured rotary axis center positions.

Set the measured rotary axis center positions in the relevant parameters in the following table according

to the machine model.



Y2

'' LyLzRay −= S-BASE->A-AX.ROT.CENTER.

Z2

'' LyLzRaz +=

2-2. Measuring

the Position of

the A-axis Rota-

tion Center

X2

21 xRxRRcx +=

Y2

21 yRyRRcy +=

When the A-axis is the

rotary axis on the spin-

dle side.

(MILLAC-800VH, etc)

C-AXIS ROTATION CENTER


2-1. Measuring

the Position of

the C-axis Rota-

tion Center

X2

'' LxLzRbx −=

Y None (Settings disabled) S-BASE->B-AX.ROT.CENTER.

Z2

'' LxLzRbz +=

2-3. Measuring

the Position of

the B-axis Rota-

tion Center

X2

21 xRxRRcx +=

Y2

21 yRyRRcy +=

When the B-axis is the

rotary axis on the spin-

dle side.

(MILLAC-1000VH, etc)

C-AXIS ROTATION CENTER


2-1. Measuring

the Position of

the C-axis Rota-

tion Center


- 180 -

SECTION 3 TWO SPINDLE AXES (ROTARY C-AXIS/INCLINED B-AXIS)

1. OVERVIEW This section explains how to measure the rotary axis center positions and the parameter setting procedures

for machines with the following rotary axes: two rotary axes are located in the spindle and B-axis is placed on

the C-axis (like the double-column machining centers with the B/C axis spindlehead).

The rotary axis center position is used for 5-axis machining functions, including the tool nose control function,

and for the pivot distance compensation function.

The rotary axis center position is pre-set at the factory. However, if the reference position of the tool changes,

if the enhanced working accuracy is desired, or if the rotary axis center changes over time, the rotary axis

center position should be measured and the required parameters should be set in accordance with the in-

structions in this manual.

X

Z

Y X

Y

Z

Fig. 1-1 Overview of the rotary axis center positions

2. MEASURING ROTARY AXIS CENTER POSITIONS Measure the rotation centers of both B- and C-axes. This instruction manual explains the procedure for

measuring the rotary axis center position with a dial gauge mounted on the table and the reference tool

mounted on the spindle side.

[Supplement]

1) Ensure that the following conditions are met when measuring the rotary axis center position or setting the

rotary axis parameters.

- Tool nose control function: OFF

- 3D feed switch: OFF

- Pivot distance compensation function: DISABLED (INEFFECT)

If the pivot distance compensation function is available, refer to “ROTARY AXIS PIVOT DISTANCE

COMPENSATION FUNCTION” for details.

2) In the example measurement below, the rotation center is described as the coordinate value of the ma-

chine coordinate system.


B-axis rotation center position

C-axis rotation center position

- 181 -

2-1. Measuring the B-axis Rotation Center Position Position the B-axis at “0,” obtain the displacement from the reference position for tool length offset to the

B-axis rotation center.

X

Z

Y

Fig. 2-1 B-axis rotation center position




3. Move the reference tool from the X-axis positive direction close to Gauge 1 and measure the X-axis positive

position (P1x).

4. Move the reference tool from the Y-axis positive direction close to Gauge 2 and measure the Y-axis positive

position (P1z).


6. Move the reference tool from the X-axis negative direction close to Gauge 1 and measure the X-axis posi-

tive position (P2x).

7. Move the reference tool from the Y-axis negative direction close to Gauge 2 and measure the Y-axis posi-

tive position (P2z).

P1x

P1z

Y

Z

X

P2x

P2z

Y

Z

X

Fig. 2-2 Explanation drawing (1) for measuring B-axis rotation center position


Reference position for tool length offset

B-axis rotation center

Gauge 1

Gauge 2

Gauge 1

Gauge 2

Measurement at B0° position Measurement at B90° position

- 182 -

8. Calculate the displacement (Lx, Lz) for each position of the tip of the reference tool when the B-axis is at 0°


- Lx is the displacement in X-axis direction at the reference tool tip position between B0° and B90°.

- Lz is the displacement in Z-axis direction at the reference tool tip position between B0° and B90°.

X

Z

Y

Lz

Lx

Fig. 2-3 Explanation drawing (2) for measuring the B-axis rotation center position

The displacement (Ly, Lz) is given by the following formula.

zPzPLzxPxPLx 21,21 −=+−=

9. Obtain the length L measuring from the end face of the reference tool to the reference point for tool length

offset.

- When the spindle end face is regarded as reference position for tool length offset, the distance from the

spindle end face to the end face of the reference tool is regarded as L.

- When the end face of reference tool is regarded as the base position for tool length offset position, L=0.

L

Fig. 2-4 Reference position for tool length offset

10. Subtract the length L obtained in the above step 9 from Lx, Lz. Then, calculate the displacement in the

reference position for tool length offset by the following formula:

LLzLzLLxLx −=−= ','


Reference position for tool length offset

Reference tool end face

- 183 -

11. Relation between the replacement from reference position for tool length offset and B-axis rotation center

can be obtained using the following formula:

RbzRbxLzRbxRbzLx +=−= ',' 　

Lz'

Lx'

Rbz

Rbx

Rbz

Rbx

X

Z

Y

Fig. 2-5 Relation between reference position for tool length offset and B-axis rotation center

12. As a result of the above calculation, the B-axis rotating position Rb = (Rbx, Rbz) can be obtained by the

following formula:

22121,

222121 zPzPxPxPRbzLzPzPxPxPRbx ++−=−−++−= 　

Reference position for tool length offset (B90°)

B-axis rotation cen-ter position

Reference positionfor tool length offset(B0°)

- 184 -

2-2. Measuring the C-axis Rotation Center Position

Obtain the displacement between the reference point for tool length offset and the position of the C-axis rota-

tion center with the C-axis in the 0° position.

X

Y

Z


Tool length offset reference position

Fig. 2-6 C-axis rotation center position




3. Move the reference tool from the X-axis positive side close to Gauge 3 and measure the X-axis position

(P3x).

4. Move the reference tool from the Y-axis positive position close to Gauge 4 and measure the Z-axis position

(P3y).


6. Move the reference tool from the X-axis positive position close to Gauge 3 and measure the positive X-axis

position (P4x).

7. Move the reference tool from the Y-axis positive position close to Gauge 4 and measure the position of the

Z-axis (P4y).

Measurement at C90° position

Gauge 3

Gauge 4

P4x

P4y

X

Y

Z

Measurement at C0° position

Gauge 3

Gauge 4

X

Y

Z

P3x

P3y


Fig. 2-7 Explanation drawing (1) for measuring C-axis rotation center position

- 185 -

8. Calculate the displacement (Lx, Ly) for each position of the tip of the reference tool when the C-axis is at 0°


- Lx is the displacement in X-axis direction at the reference tool tip position between C0° and C90°.

- Ly is the displacement in Y-axis direction at the reference tool tip position between C0° and C90°.

Ly

LxX

Y

Z


Fig. 2-8 Explanation drawing (2) for measuring the C-axis rotation center position

The displacement (Lx, Ly) is given by the following formula.

yPyPLyxPxPLx 43,43 +−=−=

9. Obtain the length L measuring from the end face of the reference tool to the reference point for tool length

offset.

- When the spindle end face is regarded as reference position for tool length offset, the distance from the

spindle end face to the end face of the reference tool is regarded as L.

- When the end face of reference tool is regarded as the base position for tool length offset position, L=0.

L

Reference tool end face

Tool length offset reference position

Fig. 2-9 Reference position for tool length offset

10. Subtract the length L obtained in the above step 9 from Lx, Ly. Then, calculate the displacement in the

reference position for tool length offset by the following formula:

LLyLyLLxLx −=−= ','

- 186 -

11. Relation between the replacement from reference position for tool length offset and C-axis rotation center

can be obtained using the following formula:

RcyRcxLyRcyRcxLx +=−= ',' 　

C-axis rotation center positionL

y'

Lx'

Tool length offset reference position（C0°）

Tool length offset reference

position（C90°）

Rcy

Rcx

Rcy

Rcx

X

Y

Z

Fig. 2-10 Relation between reference position for tool length offset and C-axis rotation center

12. As a result of the above calculation, the C-axis rotating position Rc = (Rcx, Rcy) can be obtained by the

following formula:

24343,

224343 yPyPxPxPRcyLyPyPxPxPRcx −+−=−+−−= 　

- 187 -

3. SETTING ROTARY AXIS PARAMETERS Select the parameter setting mode and set the values measured in “2. MEASURING ROTARY AXIS

CENTER POSITIONS” on the “PIVOT DISTANCE COMPENSATION” display or “ROTATION CENTER” dis-

play of the rotary axis parameter setting display.

Carry out these settings on the “PIVOT DISTANCE COMPENSATION” display or the “ROTATION CENTER”

display depending on whether or not the pivot distance compensation function is available.

【3-1. 芯ズレ補正画面の設定】

芯ズレ補正機能あり？

芯ズレ補正機能を使用する？

【3-2. 回転軸旋回中心位置画面の設定】

パラメータ設定

設定完了

する

しない

なし

あり

Fig. 3-1 Rotary axis parameter setting procedure

[Supplement]

The pivot distance compensation function adjusts the error between the actual value and the estimated

value at the rotary axis rotation center. Therefore, when the rotation center set at the factory is handled

as the reference value, for example, errors can be adjusted by setting the change amount of the rotation

center value generated with time lapse and machine usage on the PIVOT DISTANCE

COMPENSATION display.

When the pivot distance compensation function is not provided, or not using the function, set the meas-

ured value on the ROTATION CENTER display.

Parameter setting

Pivot distance com-pensation function

provided?

[3-1.Setting Values on the Pivot Distance Compensation Display]

No

Yes

No

Yes

Setting completed

Pivot distance compensation function used?

[3-2.Setting Values on the Rotary Center Display]

- 188 -

3-1. Setting Values on the Pivot Distance Compensation Display Set the measured rotary axis center positions on the “PIVOT DISTANCE COMPENSATION” display.


1. Select the parameter setting mode.

2. Press [F8] (DISPLAY CHANGE).

Use the Up/Down keys to choose “ROTARY AXIS PARAMETER” from the menu, and then press [F8]

(CLOSE).

When you close the DISPLAY CHANGE pop-up window, the “ROTARY AXIS PARAMETER” display will be

shown.

3. Press the page key to display the “PIVOT DISTANCE COMPENSATION” display shown in Fig. 3-2.


4. Set the work zero number during measurement in the “DISPLAY COORDINATE” box.

[Supplement]

1) In the “DISPLAY COORDINATE” box, set the work zero number used when carrying out the measure-

ments.

After measurement with the machine coordinate system, set “0” in the “DISPLAY COORDINATE” before

performing each measurement.

- 189 -

5. Select [F4] (SPINDLE CENTER) to display the SPINDLE CENTER pop-up window.

Fig. 3-3 PIVOT DISTANCE COMPENSATION/SPINDLE CENTER display

6. Set the rotary axis center positions measured in 2. MEASURING ROTARY AXIS CENTER POSITIONS at “B-AX.ROT.CENTER.” and at “C-AX.ROT.CENTER.”.

Parameters Values to be set Reference

X 2

22121 LzPzPxPxPRbx −−++−=

Y None (Setting disabled) B-AX.ROT.CENTER.

Z 2

2121 zPzPxPxPRbz ++−=

2-1. Measuring the

B-axis Rotation

Center Position

X 2

24343 LyPyPxPxPRcx −+−−=

Y 2

4343 yPyPxPxPRcy −+−= C-AX.ROT.CENTER.

Z None (Setting disabled)

2-2. Measuring the

C-axis Rotation

Center Position

After carrying out the settings, select [F7] (UPDATE). The pivot distance is calculated from the values you have set and the rotation center positions set in ROTARY AXIS PARAMETERS/ROTATION CENTER: MEASUREMENT. Then, the pop-up window closes and the pivot distance is updated for the relevant axis. If you select [F8] (CANCEL), the set value is canceled and the pop-up window closes.

7. Set the PIVOT DISTANCE COMPENSATION to INEFFECT.

8. This is the end of parameter settings.

- 190 -

3-2. Setting Values on the Rotation Center Display Set the measured rotary axis center position on the ROTATION CENTER display.

1. Select the parameter setting mode.


Use the Up/Down keys to choose “ROTARY AXIS PARAMETER” from the menu, and then press [F8]

(CLOSE).

When you close the display change pop-up window, the “ROTARY AXIS PARAMETER” display will be

shown.

3. Press the page key to display the “ROTATION CENTER” display.

Fig. 3-4 ROTATION CENTER display

4. Select the “DISPLAY COORDINATE” box and set the work zero number used during measurement

[Supplement]

1) In the “DISPLAY COORDINATE” box, set the work zero number used during measurement.

After measurement with the machine coordinate system, set “0” before performing each setting.

- 191 -

5. Set the measured rotary axis center positions to the “B-AX.ROT.CENTER.” and “C-AX.ROT.CENTER.”.

Parameters Values to be set Reference

X 2

22121 LzPzPxPxPRbx −−++−=

Y None (Setting disabled) B-AX.ROT.CENTER.

Z 2

2121 zPzPxPxPRbz ++−=

2-1. Measuring the

B-axis Rotation

Center Position

X 2

24343 LyPyPxPxPRcx −+−−=

Y 2

4343 yPyPxPxPRcy −+−= C-AX.ROT.CENTER.

Z None (Setting disabled)

2-2. Measuring the

C-axis Rotation

Center Position

6. This is the end of parameter setting.

- 192 -

SECTION 4 TWO TABLE AXES (ROTARY A-AXIS/INCLINED B-AXIS)

1. OVERVIEW This section explains rotary axis center position measurement and parameter setting procedures

for machines with the following structure: two rotary axes on the table side and A-axis on the

B-axis.

The rotary axis center position is used with 5-axis machining functions, including the tool center

point control function, and the pivot distance compensation function.

The rotary axis center position is pre-set at the factory. However, if the position of the inclined ro-

tary table is changed, if the reference point of the tool is changed, if enhanced working accuracy is

desired, or if the rotary axis center changes over time, the rotary axis center position should be

measured and the parameter set in accordance with the instructions in this manual.


position


X

Z

Y X

Z

Y



position

+

+


2. MEASURING ROTARY AXIS CENTER POSITION This item covers measuring the rotation center of both the A-axis and B-axis. This instruction

manual explains the procedure for measuring the rotary axis center position with a cylindrical

block installed on the table and the reference tool (test bar) mounted on the spindle side.

[Supplement]

1) Ensure each of the following conditions is met when measuring the rotary axis center position or setting the rotary axis parameter. - Tool center point control function: OFF - 3D feed switch: OFF - Pivot distance compensation function: DISABLED (INEFFECT) If the pivot distance compensation function is available, refer to the “ROTARY AXIS PIVOT DISTANCE COMPENSATION FUNCTION” for details.

2) In the example measurement below, the rotation center is described as the coordinate value of the machine coordinate system.


- 193 -

2-1. Measuring the Position of the A-axis Rotation Center This item covers measuring the position of the A-axis rotation center with the B-axis at 0°. 1. Position the B-axis at 0°.


3. Measure the top of the cylindrical block (P1z) by moving the reference tool closer from the positive

side of the Z-axis.

4. Measure the top of the cylindrical block (P1y) by moving the reference tool closer from the negative

side of the Y-axis.


6. Measure the top of the cylindrical block (P2z) by moving the reference tool closer from the positive

side of the Z-axis.

7. Measure the top of the cylindrical block (P2y) by moving the reference tool closer from the positive

side of the Y-axis.

Measured with A at 0°


Cylindrical block

(P1y, P1z)

Measured with A at 90°

(P2y, P2z)

Z

X

Y

Z

X

Y

Fig. 1-2 Measuring the position of the A-axis rotation center


- When the reference point for tool length offset is the end face of the spindle, L is the distance from

the end face of the spindle to the end face of the reference tool.

- When the reference point for tool length offset is the end face of the reference tool, L = 0.

L


Reference point for tool length compensation


- 194 -



LzPzPLzPzP

−=−=

2'21'1


The position of the A-axis rotation center Pa = (Pay, Paz) can be obtained using the following formula

2'2'121,

2'2'121 zPzPyPyPPazzPzPyPyPPay ++−=+−+= 　

- 195 -

2-2. Measuring the Position of the B-axis Rotation Center This section covers measuring the position of the B-axis rotation center.



3. Measure the top of the cylindrical block (Q1z) by moving the reference tool closer from the positive side of

the Z-axis.

4. Measure the top of the cylindrical block (Q1x) by moving the reference tool closer from the positive side of

the X-axis.


6. Measure the top of the cylindrical block (Q2z) by moving the reference tool closer from the positive side of

the Z-axis.

7. Measure the top of the cylindrical block (Q2x) by moving the reference tool closer from the positive side of

the X-axis.

B-axis rotation center

Cylindrical block

(Q1x, Q1z)

(Q2x, Q2z)

Measured with B at 0° Measured with B at 90°

Z

X

Y

Z

X

Y

Fig. 1-4 Measuring the position of the B-axis rotation center


- When the reference point for tool length offset is the end face of the spindle, L is the distance from the


- When the reference point for tool length offset is the end face of the reference tool, L = 0.

L


Reference point for tool length compensation


- 196 -



LzQzQLzQzQ

−=−=

2'21'1

10. Obtain the position of the B-axis rotation center from the above measurements.

The position of the B-axis rotation center Qb=(Qbx, Qbz) can be obtained using the following formula.

2'2'121,

2'2'121 zQzQxQxQQbzzQzQxQxQQbx ++−=+−+= 　

- 197 -

3. SETTING ROTARY AXIS SYSTEM PARAMETERS Set the structure of the inclined rotary table on the ROTARY AXIS SYSTEM PARAMETER display.



Use the Up/Down keys to choose ROTARY AXIS SYSTEM PARAMETER from the menu, and then

press [F8] (CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ROTARY AXIS SYSTEM PARAMETER

display will be shown.

Fig. 1-6 ROTARY AXIS SYSTEM PARAMETER display

3. Set the following parameters to NAME, POSITION, and STRUCTURE.

NAME POSITION STRUCTURE

4th AXIS A TABLE 1st ROT.

5th AXIS B TABLE 2nd ROT.

[Supplement]

1) When ROTARY AXIS SYSTEM PARAMETER is not shown in the DISPLAY CHANGE pop-up window,

perform the following steps so that it can be selected.

1. Press the Extend key when the DISPLAY CHANGE pop-up window is shown.

The function menu changes and [F1] (MENU) will be shown.

2. Press [F1] (MENU).

The MENU pop-up window will be shown.

Press the Up/Down keys to choose ROTARY AXIS SYSTEM PARAMETER from the menu, and press

[F1] (CHECK ON/OFF) to check ROTARY AXIS SYSTEM PARAMETER.

3. Select [F7] (OK).

The display will return to the DISPLAY CHANGE pop-up window as the MENU pop-up window closes.

- 198 -

4. SETTING ROTARY AXIS PARAMETERS Set the values measured in “2. MEASURING ROTARY AXIS CENTER POSITION” to the ROTARY AXIS

ATTRIBUTE, PIVOT DISTANCE COMPENSATION, or ROTATION CENTER display in the ROTARY AXIS

PARAMETER setting display, in the parameter setting mode.

Carry out these settings on the PIVOT DISTANCE COMPENSATION display or the ROTATION CENTER


4-2. Setting Values on the Pivot Distance Compensation

Pivot distance compensation function

available?

Use pivot distance compensation function?

4-3. Setting Values on the Rotation Center Display

Start setting

End setting

Yes

No

No

Yes

4-1. Setting Values on the Rotary Axis Attribute Display


[Supplement]

1) The pivot distance compensation function adjusts the error between the actual value and the estimated

value at the rotary axis rotation center. Therefore, when the rotation center set at the factory is handled

as the reference value, for example, errors can be adjusted by setting the change amount of the rotation

center value generated with time lapse and machine usage on the PIVOT DISTANCE

COMPENSATION display.

When the pivot distance compensation function is not available, or not using the function, set the meas-

ured value on the ROTATION CENTER display.

- 199 -

4-1. Setting Values on the Rotary Axis Attribute Display Set the rotation direction of the inclined rotary table.

Fig. 1-8 ROTARY AXIS ATTRIBUTE display




(CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ROTARY AXIS PARAMETER display will

be shown.

3. If you press the page key, the ROTARY AXIS ATTRIBUTE display will be shown.

4. Set the following parameters to each setting item.

NAME POSITION

STRUCTURE APPOINTMENT CHANGE ISO

4th AXIS A A NO/YES ACCORD

5th AXIS B B NO/YES ACCORD

- 200 -

4-2. Setting Values on the Pivot Distance Compensation Display Set the measured rotary axis center positions on the PIVOT DISTANCE COMPENSATION display.





(CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ROTARY AXIS PARAMETER display will be

shown.

3. If you press the page key, the PIVOT DISTANCE COMPENSATION display in Fig. 1-10 will be shown.



[Supplement]


ments.


measurement.

- 201 -

5. If you select [F5] (TABLE CENTER), the TABLE CENTER pop-up window will be shown.

Fig. 1-11 PIVOT DISTANCE COMPENSATION/TABLE CENTER display

6. Set the rotation center position of the rotary axis obtained in “2. Measuring Rotary Axis Center Position” to

the ‘A-axis rotation center’ and ‘B-axis rotation center.’



Y 2'2'121 zPzPyPyPPay +−+= A-AXIS

ROTATION

CENTER

Z 2'2'121 zPzPyPyPPaz ++−=

2-1. Measuring the

Position of the

A-axis Rotation

Center

X 2'2'121 zQzQxQxQQbx +−+=


B-AXIS

ROTATION

CENTER

Z 2'2'121 zQzQxQxQQbz ++−=

2-2. Measuring the

Position of the

B-axis Rotation

Center


set and the rotation center positions set in ROTARY AXIS PARAMETER/ROTATION CENTER

MEASUREMENT is calculated. The pop-up window closes, and the target axis pivot distance is updated.


7. Set PIVOT DISTANCE COMPENSATION to ‘ENABLED (EFFECT)’


- 202 -

4-3. Setting Values on the Rotation Center Display This item covers setting the measured rotary axis center position on the ROTATION CENTER display.



Use the Up/Down keys to choose ROTARY AXIS PARAMETER from the menu, and then press

[F8](CLOSE).

When you close the DISPLAY CHANGE pop-up window, the ‘rotary axis parameter’ display will be shown.

3. If you press the page key, the ROTATION CENTER display will be shown.

Fig. 1-12 ROTATION CENTER display


[Supplement]


ments.


measurement.

- 203 -

5. Set the measured rotary axis center positions to the A-AXIS ROTATION CENTER and B-AXIS

ROTATION CENTER.



Y 2'2'121 zPzPyPyPPay +−+= A-AXIS

ROTATION

CENTER

Z 2'2'121 zPzPyPyPPaz ++−=

2-1. Measuring the

Position of the

A-axis Rotation

Center

X 2'2'121 zQzQxQxQQbx +−+=


B-AXIS

ROTATION

CENTER

Z 2'2'121 zQzQxQxQQbz ++−=

2-2. Measuring the

Position of the

B-axis Rotation

Center


LIST OF PUBLICATIONS

Publication No. Date Edition

5611-E November 2008 1st

5611-E-R1 September 2009 2nd

5611-E-R2 January 2010 3rd

5611-E-R3 January 2011 5th

This manual may be at variance with the actual product due to speci-fication or design changes.

Please also note that specifications are subject to change without no-tice.

If you require clarification or further explanation of any point in this manual, please contact your OKUMA representative.

okuma ops200m progmanual

Documents

axis machinig function

table axis

parameters section

spindle axis rotary

rotary axis parameters

manual feed function

table axes rotary

rotary axes