Tool Center Point Control For 5-Axis Machining Specifications

FANUC Series 16i-MB
FANUC Series 18i-MB5
Tool Center Point Control

For 5-Axis Machining
Specifications
FANUC Series 16i –MB, 18i –MB5

Title Tool Center Point Control For 5-Axis
machining
Draw
No.
A-78709E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 1/47
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
- Contents -
1.1 TOOL CENTER POINT CONTROL FOR 5-AXIS MACHINING ...................................................................... 3
General .............................................................................................................................................................................. 3
Format ............................................................................................................................................................................... 8
Description......................................................................................................................................................................... 9
1.1.1 TOOL CENTER POINT CONTROL OF TOOL ROTATION TYPE MACHINE ............................................................. 13
General ............................................................................................................................................................................ 13
Description....................................................................................................................................................................... 13
1.1.2 TOOL CENTER POINT CONTROL OF TABLE ROTATION TYPE MACHINE ............................................................ 15
General ............................................................................................................................................................................ 15
Description....................................................................................................................................................................... 15
1.1.3 TOOL CENTER POINT CONTROL OF MIXED-TYPE MACHINE ........................................................................... 17
General ............................................................................................................................................................................ 17
Description....................................................................................................................................................................... 17
1.1.4 RESTRICTIONS .......................................................................................................................................... 23
1.1.4.1 Common restrictions........................................................................................................................ 23
1.1.4.2 Restrictions of tool rotation type ...................................................................................................... 26
1.1.4.3 Restrictions of includes table rotation axis machine (table rotation type, mixed-type) .................... 26
1.1.5 ABOUT PARAMETERS ................................................................................................................................. 27
1.1.5.1 About the machine configuration ..................................................................................................... 27
1.1.5.2 Examples of setting parameters ...................................................................................................... 30
1.1.5.3 Parameters ...................................................................................................................................... 36
1.1.6 ALARM AND MESSAGE ............................................................................................................................... 47

machining
Draw
No.
A-78709E
1.1 Tool Center Point Control For 5-Axis Machining
General
On a five-axis machine having two rotation axes that turn a tool, tool length
compensation can be performed momentarily even in the middle of a block.
This tool length compensation is classified into one of two types based on the
programming method.
Tool Center Point control

The path of the tool tip center is linear as specified.
Tool pivot point

= interpolation path
(not linear)
Tool tip center path

(linear)
Tool length compensation along the tool axis
The path of the tool tip center is not linear.
Tool pivot point

= interpolation path
(linear)
Tool tip center path

(not linear)
Fig. 1.1 (a) Difference between Tool Center Point Control and Tool Length
Compensation in Tool Axis Direction
NOTE
The length from the tool tip to tool pivot point must equal the sum of
the tool length compensation amount and tool holder offset value.

machining
Draw
No.
A-78709E
There are three different types of five-axis machines. They are <1> a tool rotation
type, <2> a table rotation type, and <3> a tool and table rotation type.
(See.Fig1.1(b))
The conventional tool center point control method can be applied only to <1> tool
rotation type machines.
This function is intended to make tool center point control applicable to <2> table
rotation type and <3> mixed-type machines.
<1> Tool rotation

type machine
Z
B
X
<2> Table rotation type

machine
Z
Y
C
A
<3> Mixed-type machine

Z
C Y
Fig. 1.1 (b) Three types of 5-axis machine

machining
Draw
No.
A-78709E
To put another way, tool center point control for 5-axis machining is intended to
perform machining on a five-axis machine having table rotary axes as well as three
orthogonal axes (X-, Y-, and Z-axes) while changing the attitude of the tool. With
this function, the tool center point can move along the specified path even if the tool
is tilted with respect to the workpiece. (See Fig.1.1 (c).)
Programming is possible in a coordinate system (programming coordinate system)
fixed to the table, making CAM-based programming easy. Also, the cutting speed
becomes easy to control, because the tool center point moves at a specified speed.
Table rotation type machine
A
Y’
B Z’
X’
Tool center point path
Y’
Z’
X’
Y’
Z’
X’
Fig.1.1 (c) Tool center point path

machining
Draw
No.
A-78709E
As the table rotates, the position and orientation of a workpiece fixed on the table
change. However, programmed positions are specified in the coordinate system
fixed on the table (programming coordinate system). Because the programming
coordinate system does not move with respect to the table, specifying a line with a
program generates a straight path as viewed in the programming coordinate system.
Fig.1.1 (d) shows how linear interpolation in the programming coordinate system is
performed on a mixed-type machine.
If linear interpolation is specified in this function mode, speed control is carried out in
such a way that tool center point moves at a specified speed in the programming
coordinate system.
Example
Machine configuration: The A-axis is a rotary axis for controlling the tool.
The B-axis is a rotary axis for controlling the table.
Program: Created in the "programming coordinate system"
Command start
point
Z’
Programming
coordinate system
Y’
X’
B
Command end point
The cutting path is straight.
Z’
Programming
coordinate system
Y’
X’
Fig.1.1 (d) Linear interpolation on program coordinate system

machining
Draw
No.
A-78709E
- Enabled functions
When the tool center point control for 5-axis machining is executed, the following
functions are enabled:
(1) Linear acceleration/deceleration before interpolation or bell-shaped
acceleration/deceleration before interpolation (The acceleration is decided by
parameter No.8400 and No.8401.)
(Acceleration change time constant type)
(2) Deceleration function based on feedrate differences at corners
(3) Advanced feed-forward function
(4) Deceleration function based on Z-axis fall angle
(5) Jerk control
(6) Max 600-block multi-buffer function
When AI High Precision Countour Control or AI NANO High Precision Countour

Control option is ordered, the following functions are enabled:
(1) Linear acceleration/deceleration before interpolation or bell-shaped
acceleration/deceleration before interpolation (The acceleration is decided by
parameter No.8400 and No.19510 (In case of 0, No.8401 is effective.)
(Acceleration change time constant type)
(2) Deceleration function based on feedrate differences at corners
(3) Advanced feed-forward function
(4) Feedrate determination based on acceleration on each axis
(5) Deceleration function based on Z-axis fall angle
(6) Jerk control
(7) Max 600-block multi-buffer function

machining
Draw
No.
A-78709E
Format
- Tool center control command
Format
G43.4 H ; Starts tool center point control (TYPE1)
G49 ; Cancels tool center point control.

Symbol description
H : Tool offset number
Once this command is issued, linear interpolation for the X-, Y-, and Z-axes is issued
in the programming coordinate system. Then, a rotation command for a table or
tool is issued.
The CNC controls the controlled point so that the tool center point moves along the
specified straight line in the programming coordinate system at the same time with
interpolation for the rotary axis.
CAUTION
Tool Center Point control (type2) to specify direction (I,J,K) of the tool
axis cannot be specified on Tool Center Point control for 5-axis
machining. To use this type2, please select past Tool Center Point
control. (Past Tool Center Point control is effective only to the machine
configuration of the tool rotation type)
Controlled point and

tool center point
Controlled point:
Target of control in the
machine coordinate
system
Tool offset value

Tool center point
Fig.1.1 (e)

machining
Draw
No.
A-78709E
Description
- Tool center point control command
When tool center point control is in use, a move command is issued in the
programming coordinate system.
The program specifies the tool center point.
For rotary axes, the positions of each block end are specified.
The feed rate is specified with F, using a tangential speed (relative speed between
the workpiece and tool) in the programming coordinate system.
The tool compensation vector changes in the following cases:

The offset value is changed, or the rotation axis position is specified.
As the tool compensation vector changes, movement is performed along the X-, Y-,
and Z-axes by an amount equal to the change. The time at which the tool
compensation vector is calculated is as follows:
Tool center point control : Calculated momentarily even in the middle of a block.
Tool length compensation in tool axis direction: Calculated only at the end point
of a block.
When only the rotation axis position is specified in tool center point control mode, the
tool tip center position remains unchanged before and after the specification. (Also,
while the rotation axes are being moved, the tool tip center does not move.)
- Programming coordinate system

Issuing G43.4 makes the CNC use the current workpiece coordinate system as its
programming coordinate system (fixed on the table).
The programming coordinate system is used for tool center point control.
It rotates as the table rotates.
It does not rotate when the tool head rotates.
Once G43.4 is issued, it is assumed that the subsequent X, Y, and Z commands are
issued in the programming coordinate system.
If the table rotary axis moves in the same block as for G43.4 or in a block before
G43.4, the angle of the table rotary axis is used as the initial status of the
programming coordinate system.

machining
Draw
No.
A-78709E
Programming coordinate system
C-axis reference position
Programming
Y 45 coordinate system
Y
Workpiece 0
coordinate 45
system X
X
C
When C43.4 is Tool center point

issued, if C = 0 control under way
Programming
coordinate system
Y 90 Y
Workpiece
coordinate 45 90
system X
X
45
C
When C43.4 is Tool center point

issued, if C = 45 control under way
Caution:
The term "C-axis reference position" refers to a position to which
the C-axis moves in such a way that when C** is issued for the
C-axis, graduations ** on the C-axis comes to that position.
Fig.1.1 (f)
- Programmed point
In programming, the position of the tool tip center is specified.
Ball-end mill
Tool tip center
Programmed path

machining
Draw
No.
A-78709E
Flat-end mill
Tool tip center
Programmed path
Corner-radius-end mill
Tool tip center
Programmed path
- Commands that can be issued when tool center point control is in use
The commands that can be issued when tool center point control is in use are linear
interpolation (G01) and positioning (G00).
If a linear interpolation command (G01) is issued when tool center point control is in
use, speed control is carried out in such a way that the tool center point can move at
the specified speed.
The speed of the controlled point is displayed as the actual speed.
For positioning (G00), observe the following cautions.
CAUTION
1 Be sure to set the following parameters.
1) Parameter LRP(No.1401#1)=1 : Linear rapid traverse
2) Parameter FRP(No.19501#5)=1 : Acceleration/deceleration
before interpolation is used for rapid traverse.
3) Parameter No.1773 : Acceleration before interpolation for
rapid traverse. (When parameter No.1773 is set to 0,
parameter No.1620 is effective.)
4) Parameter No.1774 : Change time for bell-shaped
acceleration before interpolation for rapid traverse.
(When parameter No.1774 is set to 0, parameter No.1621 is
effective.)
2 If the above settings are not made, or look-ahead
acceleration/deceleration before interpolation is not in effect, an axis
may move faster than the rapid traverse rate.

machining
Draw
No.
A-78709E
- Rotary axis command
If only a rotary axis is specified when tool center point control is in use, the maximum
cutting feed rate (parameter No. 1422 or 1430 or 1432) becomes effective as the
feed speed for the rotary axis.
- Tool behavior at start and cancellation

When tool center point control is started (G43.4) or canceled (G49), the tool moves
by a tool offset value.
Compensation vector calculation is performed only at the end of a block.
- Current position display when tool center point control is in use

For a machine coordinate system for which tool center control is in use, the position
of the controlled point (rotation center of the tool rotary axis) is displayed.
Which to use, absolute or relative coordinates, is selected using parameter DET
(No.19608#2). If parameter DET (No.19608#2) = 0, the position of the tool center
point in the programming coordinate system is displayed.
If parameter DET (No.19608#2) = 1, the position of the tool center point in the
machine coordinate system is displayed.
- Tool offset
If tool life management is in use, tool center point control is carried out using the tool
length compensation value for a tool in use.

machining
Draw
No.
A-78709E
1.1.1 Tool Center Point control of tool rotation type machine
General
On a five-axis machine having two rotation axes that turn a tool, tool length
Description
- Concrete examples of operations
Explained below is a tool rotation type machine configuration with two tool rotary
axes. (See Fig.1.1 (h).)
If commands for a rotary axis for linear interpolation for the X-, Y-, and Z-axes of the
programing coordinate system fixed at the table are issued, control is performed in
such a way that as the tool rotate, the tool center point moves on a specified straight
line in the programming coordinate system.
Also speed control is performed in such a way that the tool center point moves at the
specified speed in the programming coordinate system.
Sample program 1 :
O100 (Sample Program1) ;
N1 G00 G90 B0 C0 ;
N2 G55 ; Gets the programming coordinate
system ready
N3 G43.4 H01 ; Starts tool center point control.
H01 is a tool compensation number.
N4 G00 X200.0 Y150.0 Z20.0 ; Moves the tool to the start point.
N5 G01 X5.0 Y5.0 Z5.0 C60.0 B45.0 F500; Linear interpolation.
N6 G49 ; Cancels tool center point control.
N7 M30;

machining
Draw
No.
A-78709E
Tool rotation type machine C
Z’
Y’
X’
Z’
Y’
X’
Z’
Y’
X’
Control point tracks

(machine coordinate system)
Tool center point tracks

(programing coordinate system)
Fig.1.1 (g)

machining
Draw
No.
A-78709E
1.1.2 Tool Center Point control of table rotation type machine
General
On a five-axis machine having two rotation axes that turn two table, tool length
Description
- Concrete examples of operations
One of the examples explained below uses two table rotary axes. The other example
uses one table rotary axis and one tool rotary axis.
Explained below is a machine configuration (trunnion) in which a rotary table that

rotates on the Y-axis is placed on the X-axis as the table rotary axis. (See Fig.1.1
(h).)
If a command for a rotary axis for moving a rotary table and a command for linear
interpolation for the X-, Y-, and Z-axes of the table coordinate system fixed at the
rotary table are issued, control is performed in such a way that as the rotary table
rotates, the tool center point moves on a specified straight line in the programming
coordinate system.
Sample program 2 :
N1 G00 G90 A0 B0 ;
system ready.
N4 G00 X20.0 Y100.0 Z0 ; Moves the tool to the start point.
N5 G01 X10.0 Y20.0 Z30.0 A60.0 B45.0 F500 ; Linear interpolation.
N6 G49; Cancels tool center point control.
N7 M30;

machining
Draw
No.
A-78709E
Tool tip path if the programming

coordinate system does not shift
A
Y’
B Z’
X’
Y’
Z’
Controlled point path
X’ (in the machine coordinate system)
Tool center point path (in the programming coordinate system)
Y’
Z’
X’
Y’
Z’
X’
Y’
Z’
Y’ X’
Z’
X’
Fig.1.1 (h)

machining
Draw
No.
A-78709E
1.1.3 Tool Center Point control of mixed-type machine
General
On a five-axis machine having two rotation axes that turn table and tool, tool length
Description
- Concrete examples of operations(1)
Explained below is a mixed-type machine configuration with one table rotary axis (X-
axis) and one tool rotary axis (Y-axis). (See Fig.1.1 (i).)
If commands for a rotary axis for moving a rotary table and for a tool rotary axis and
a command for linear interpolation for the X-, Y-, and Z-axes of the table coordinate
system fixed at the rotary table are issued, control is performed in such a way that as
the rotary table and tool rotate, the tool center point moves on a specified straight
line in the programming coordinate system.
Sample program 3 :
N1 G00 G90 A0 B0 ;
system ready
N4 G00 X200.0 Y150.0 Z20.0 ; Moves the tool to the start point.
N5 G01 X5.0 Y5.0 Z5.0 A60.0 B45.0 F500; Linear interpolation.
N6 G49 ; Cancels tool center point control.
N7 M30;

machining
Draw
No.
A-78709E
Mixed type machine
B
Tool tip path if the programming

coordinate system does not shift
Z’
Y’
Z’
X’
Y’ A
X’
Z’
Y’
Z’
Y’ X’
X’
Y’
Z’
Z’
X’
Y’
Controlled point path

X’ (in the machine coordinate system)
Tool center point path (in the programming coordinate system)
Fig.1.1 (i)

machining
Draw
No.
A-78709E
- Concrete examples of operations(2)
In this example, each side, 100 mm long, of an equilateral triangle is created with the
B-axis set, respectively, to 0, 30 to 60, and 60 degrees.
Sample program 4 :
N10 G55 ; Gets the programming coordinate system ready
N20 G90 X50.0 Y-70.0 Z300.0 B0 C0 ; Moves the tool to the initial position.
N30 G01 G43.4 H01 Z20.0 ; Starts tool center point control.
Moves the tool to an approach position.
N40 X28.868 Y-50.0 Z10.0 B30.0 ; Set the height of the surface to be cut to 10.0
mm along the Z-axis.
N50 Y50.0 ;
N60 B45.0 C120.0 ;
N70 X-57.735 Y0 B60.0 C180.0 ; Moves the tool along the X- and Y-axes while
keeping the B- and C-axes operating.
N80 C240.0 ;
N90 X28.868 Y-50.0 ;
N100 X50.0 Y-70.0 Z20.0 B0 C360.0 ; Set the X, Y, and Z coordinates of the approach
position.
Moves the rotary axes to the previous position.
N110 G49 Z300.0 ; Cancels tool center point control.
Moves the tool to the initial position along the Z-
axis.
N120 M30;
Mixed type (B-axis as the tool rotary axis, C-axis as the table
rotary axis, and tool axis in the Z direction)
B-axis rotation
center B
Z
C-axis rotation
G55 workpiece coordinate center
system
X
Y
Fig.1.1 (j)

machining
Draw
No.
A-78709E
Fig.1.1 (k) shows the attitude of the workpiece and the attitude of the tool head
relative to the workpiece as viewed in the +Z direction on the assumption that the
table rotary axis C stands still.
Operation when the C-axis stands still
(X28.868,Y-50.0)
(X28.868,Y50.0)
(B 30.0) (B 30.0)
(C 120.0) (C 0)
(B 45.0) (B 60.0)
(C 240.0)
(B 60.0)
X
(B 60.0)
(X-57.735,Y0) Y
Fig.1.1 (k)

machining
Draw
No.
A-78709E
Step-by-step operation diagram of each block
(B 0)
Behavior of the controlled
point (machine coordinates)
(B 30.0) (B 30.0)
X (C 0)
Behavior of the
tool center point
Y
The B-axis rotates to

The C-axis rotates to (B 45.0) B45 degrees.
C120 degrees.
N60 block
(C 120.0) (B 30.0)
(C 0)
(B 60.0)
The C-axis rotates to
C180 degrees.
(C 180.0)
N70 block
(B 45.0)
(C 120.0)
Fig.1.1(k) (1)

machining
Draw
No.
A-78709E
The C-axis rotates to (B 60.0)
C240 degrees.
(B 60.0)
N80 block
(C 240.0)
(C 120.0)
(B 60.0) (B 60.0)
N90 block (C 240.0)
(B 0)
The C-axis rotates to

C360 degrees.
N100 block
(C 360.0)
Fig.1.1 (k) (2)

machining
Draw
No.
A-78709E
1.1.4 Restrictions
1.1.4.1 Common restrictions
- Deceleration at a corner
When tool center point control is in use, the controlled point may move on a curved
line even if a straight-line command is issued. Some commands may cause the tool
center point to make a sharp turn.
For this reason, the tool may be decelerated if a low value is set as a permissible
speed difference (parameter No. 8410) or a permissible acceleration (parameter No.
8470) for a corner.
- Reset
When Tool Center Point control for 5-axis machining mode(G43.4) is reseted , the
mode is always canceled (G49).
- Restriction of commands
The following functions can be used but the state can not be changed in tool center
point control mode.
・ Inch/metric conversion (An alarm(P/S5000) is issued if the state is changed by

G20 or G21)
・ Mirror image (Do not change the state of the signal).
・ Tool life management function
The tool length compensation use the amount of the tool specified by tool life
management function. The command for the tool life management function have
to command before tool axis direction tool length compensation mode.
・ F1 digit feed (Feedrate can not be changed by using the manual pulse
generator.)
- Unusable functions
Do not use the following functions in tool center point control mode.
- Custom macro B
- Macro executor (Execution macro)
- The following group 01 G functions
Helical interpolation, Conical interpolation -G02,G03
Exponential interpolation -G02.3,G03.3
- High speed machining -G05 (G05P10000 and G05P0 is
excluded))
- AI countor control / AI NANO countor control -G05.1Q1, G05.1Q0
- Hypothetical axis interpolation -G07
- Cylindrical interpolation -G07.1

machining
Draw
No.
A-78709E
- Advanced preview control -G08 (Please use AI High
Precision Contour Control))
- Polar coordinate interpolation -G12.1, G13.1
- Polar coordinate command -G15, G16
- Reference position return check -G27
- Automatic reference position return check command -G28,G29,G30
- Skip function -G31
- Threading -G33
- Automatic tool length measurement -G37
- Normal-direction control -G40.1, G41.1,G42.1
- Cutter compensation B -G41, G42, G39
- 3-dimensional tool compensation -G41
- Wheel wear compensation -G41
- Three-dimensional cutter compensation -G41.2, G42.2
- Cutter compensation for 5-axis machining -G41.2, G42.2,G41.4, G42.4,
G41.5, G42.5
- Tool offset -G45 to G48
- Programmable mirror image -G50.1, G51.1
- Local coordinate system -G52
- Positioning in the machine coordinate system -G53
- Workpiece coordinate system -G54 to G59,G54.1
- Rotary table dynamic fixture offset -G54.2
- Single direction positioning -G60
- Automatic corner override -G62
- Tapping mode -G63
- Macro call -G65, G66, G67
(SubProgram call is available))
- Three-dimansional coordinate convertion -G68,G69
- Tilted working plane command -G68.2,G69
- Figure copying -G72.1, G72.2
- Canned cycle -G73-G79,G80,G81-G89,
G98,G99
- Simple electric gear box -G80, G81
- Functions for hobbing machine -G80, G81
- External operation function -G81
- Chopping function -G81.1
- Small hole peck drilling cycle -G83
- Workpiece coordinate system setting -G92
- Workpiece coordinate preset -G92.1
- Feed per revolution -G95
- Constant surface speed control -G96, G97
- Infeed control -G160, G161
- M,S,T and B functions with motion command

machining
Draw
No.
A-78709E
- Unavailable functions
In the mode for this function, the following functions cannot be used, The warning
message is displayed on the screen when the following functions are used. :
・ MDI operation
In the mode for this function, the following functions cannot be used, The
alarm(P/S5196) is issued when the following functions are used. :
- Manual interruption operation
- Tool retract and recover
The following functions can not be used in tool center point control mode.
・ Twin table control
・ Flexible synchronous control
・ Sequence number comparison and stop
It is not possible to stop by the sequence number in tool center point control
mode.
・ Index table indexing
・ Retrace function
Do not use retrace function in the program which uses tool center point control
mode.
・ Rotary axis control
・ Gentle curve normal direction control
・ Tool life management
Tool life value is counted in tool center point control mode. However , do not use
the command related to the tool life management function.
・ Manual handle interruption
・ External deceleration ( external deceleration is not effected )
- Other Restrictions
When the following function is used, tool center point control cannot be used.
・ Angular axis control
・ Arbitary angular axis control
The limitation may be attached about the combination of the NC instructions

occasionaly.
Refer the description of the each functions.

machining
Draw
No.
A-78709E
1.1.4.2 Restrictions of tool rotation type
- Functions resulting in the same operation as tool length compensation in tool axis direction
When the following functions are used in tool center point control mode, the same
operation as tool length compensation in tool axis direction results:
-Specification of an axis not related to tool center point control
-The following G functions of group 01:
Circular interpolation, Spiral interpolation -G02, G03
Involute interpolation -G2.2, G3.2
Three-dimensional circular interpolation -G2.4, G3.4
-Inverse time feed -G93
In tool center point control mode, the functions listed below cannot be used.
If these functions are used, the compensation vector of the previous block is used as
is. (The rotation axis cannot be specified.)
Smooth interpolation -G05.1Q2
NURBS interpolation -G06.2
1.1.4.3 Restrictions of includes table rotation axis machine (table rotation type,
mixed-type)
- Hypothetical axis as the table rotary axis

If a hypothetical axis is used as the table rotary axis, tool center point control is
performed with the table rotary axis set to 0 degrees.
In the machine configuration which includes the table rotation axis, do not use the
following functions in tool center point control mode, because they do not work
normally.
-Specification of an axis not related to tool center point control
Circular interpolation, Spiral interpolation -G02, G03
Involute interpolation -G2.2, G3.2
Three-dimensional circular interpolation -G2.4, G3.4
Smooth interpolation -G05.1Q2
NURBS interpolation -G06.2
-Inverse time feed -G93

machining
Draw
No.
A-78709E
1.1.5 About parameters
1.1.5.1 About the machine configuration
What machine configuration to select as a target of parameter setting is important.

Following are descriptions about the machine configuration.
- Master and slave

If there are two rotary axes for controlling the orientation of a tool or two rotary axes
for controlling the orientation of a table, a typical structure is such that a rotation
mechanism is on the tip of another rotation mechanism. The former rotation
mechanism is called the slave, and the latter, the master.
The master and slave are sometimes called, respectively, the first and second axes.
Master and slave
Second rotation axis
B axis = slave
= second axis
First rotation axis
A axis = master
= first axis
Fig.1.1 (l)
The rotation center axis for the master is called the first rotary axis, while the rotation
center for the slave is called the second rotary axis. (Fig.1.1 (l))

machining
Draw
No.
A-78709E
- If table rotation axes do not cross
Explained below is a mechanism in which the table rotation axes do not cross.
In the mechanism shown in the following example, the master and slave axes do not
cross each other. (See Fig.1.1 (m).)
When both maser and slave are at 0 degrees, a vector from the machine coordinate
system origin to a point on the first rotary axis of the table is set as a rotary table
position in a parameter.
Similarly, when both maser and slave are at 0 degrees, a vector from the machine
coordinate system origin to a point on the second rotary axis is set as an intersection
offset vector between the first and second rotary axes of the table in a parameter.
Machine in which the table rotary axes do not cross each other
Y
B-axis = 0 degrees
Machine
Z
coordinate
system
A-axis
= 0 degrees
Rotary table position
Intersection offset vector between the first

and second rotary axes of the table
Fig.1.1 (m)

machining
Draw
No.
A-78709E
- If the first rotary axis of the tool does not cross the tool axis
Explained below is a mechanism in which the tool axis (spindle rotation center axis)
and the first rotary axis of the tool do not cross.
When both maser and slave are at 0 degrees, a vector from a point a sum of the tool
length compensation value and the tool holder offset value apart from the tool center
point to a point on the first rotary axis of the tool is set as an intersection offset vector
between the tool axis and the first rotary axis of the tool in a parameter.
- If tool rotary axes do not cross each other

Explained below is a mechanism in which the tool rotary axes do not cross each
other.
Fig.1.1 (n) is an example of a mechanism in which the first and second rotary axes of
the tool do not cross each other.
When both master and slave are at 0 degrees, a vector from a point on the second
rotary axis of the tool to a point on the first rotary axis of the tool is set as an
intersection offset vector between the second rotary axis of the tool and the first
rotary axis of the tool in a parameter.
Setting a shift vector from the points stated above in parameters enables the
controlled point to shift.
Machine in which tool rotary axes do not cross each other
First rotary axis of the tool

C
Intersection offset vector between

the second rotary axis of the tool
and the first rotary axis of the tool
Second rotary axis of the tool
Intersection offset vector

between the tool axis and the
second rotary axis of the tool
Tool axis
Fig.1.1 (n)

machining
Draw
No.
A-78709E
1.1.5.2 Examples of setting parameters
<1> Example of setting parameters for a tool rotation type machine

This is an example of setting parameters for the tool rotation type machine shown
below.
Rotary axis C is the tool rotary axis (master) on the Z-axis.
Rotary axis B is the tool rotary axis (slave) on the Y-axis.
Tool rotation type machine
Machine coordinate system Xm-Ym-Zm
Zm
C
Ym
Xm
B
Intersection offset vector between the
second and first rotary axes of the tool
(PRM19712,19713,19714)
Intersection offset vector between the tool axis and

the second rotary axis of the tool
(PRM19709,19710,19711)
Tool holder offset value

(PRM19666)
In the tool rotation type machine shown above, if the machine coordinate system for
rotary axes B and C is at 0 degrees, assume:
Intersection offset vector between the tool axis and the second tool rotary axis = (5.0,
0, 3.0)
Intersection offset vector between the second and first rotary axes of the tool = (3.0,
3.0, 8.0)
Tool holder offset value = 2.0
The settings of the parameters for the tool rotation type machine stated above are as
follows:

machining
Draw
No.
A-78709E
Parameter Setting value
No. (IS-B)
19680 2 Mechanical unit type

19681 6(C) Controlled axis number for the first rotary axis
19682 3(Z) Axis direction for the first rotary axis
19684 0 Rotation direction of the first rotary axis
19685 0 Rotation angle for the first rotary axis when it is a hypothetical axis
19686 5(B) Controlled axis number for the second rotary axis
19687 2(Y) Axis direction for the second rotary axis
19689 0 Rotation direction of the second rotary axis
19690 0 Rotation angle for the second rotary axis when it is a hypothetical axis
19696#0 0 The first rotary axis is an ordinary rotary axis.
19696#1 0 The second rotary axis is an ordinary rotary axis.
19697 3 Tool axis direction
19700 0 Rotary table position (X-axis)
19701 0 Rotary table position (Y-axis)
19702 0 Rotary table position (Z-axis)
19703 0 Intersection offset vector between the first and second rotary axes of the table (X-axis)
19704 0 Intersection offset vector between the first and second rotary axes of the table (Y-axis)
19705 0 Intersection offset vector between the first and second rotary axes of the table (Z-axis)
19709 5000 Intersection offset vector between the tool axis and the first rotary axis of the tool (X-axis)
19710 0 Intersection offset vector between the tool axis and the first rotary axis of the tool (Y-axis)
19711 3000 Intersection offset vector between the tool axis and the first rotary axis of the tool (Z-axis)
19712 3000 Intersection offset vector between the second and first rotary axes of the tool (X-axis)
19713 3000 Intersection offset vector between the second and first rotary axes of the tool (Y-axis)
19714 8000 Intersection offset vector between the second and first rotary axes of the tool (Z-axis)
19665#4 0 Automatic calculation for controlled-point shifting
19665#5 0 Controlled-point shift
19667 X0 Controlled-point shift vector
Y0
Z0
19666 2000 Tool holder offset value

machining
Draw
No.
A-78709E
<2> Example of setting parameters for a table rotation type machine
This is an example of setting parameters for the table rotation type machine shown
below.
Rotary axis A is the table rotary axis (master) on the X-axis.
Rotary axis B is the table rotary axis (slave) on the Y-axis.
Ym Center of the second rotary axis of the table
Zm B
Xm
Center of the first rotary axis of the table
Rotary table position Intersection offset vector between the first

(PRM19700,19701,19702) and second rotary axes of the table
(PRM19703,19704,19705)
In the table rotation type machine shown above, if the machine coordinate system
for rotary axes A and B is at 0 degrees, assume:
Rotary table position = (-10.0, -30.0, 0)
Intersection offset vector between the first and second rotary axes of the table = (0,
8.0, 8.0)
The settings of the parameters for the table rotation type machine stated above are
as follows:

machining
Draw
No.
A-78709E
No. (IS-B)

19681 4(A) Controlled axis number for the first rotary axis
19682 1(X) Axis direction for the first rotary axis
19686 5(B) Controlled axis number for the second rotary axis
19687 2(Y) Axis direction for the second rotary axis
19698 0 Reference angle RA
19699 0 Reference angle RB
19700 -10000 Rotary table position (X-axis)
19701 -30000 Rotary table position (Y-axis)
19702 0 Rotary table position (Z-axis)
Y0
Z0

machining
Draw
No.
A-78709E
<3> Example of setting parameters for a mixed-type machine
In the machine explained in this example, the first, second, third, fourth, fifth, and
sixth axes are, respectively, X, Y, Z, A, B, and C.
Shown below is an example of setting parameters for a mixed-type machine.
Rotary axis A is the table rotary axis on the X-axis.
Rotary axis B is the tool rotary axis on the Y-axis.
Mixed-type machine
Zm B
Ym
Xm
Rotation center of the

A rotary table
Rotary table position
(PRM19700,19701,19702)
Intersection offset vector between the tool

axis and the tool rotary axis
(PRM19709,19710,19711)
Tool holder offset value

(PRM19666)
In the mixed-type machine shown above, if the machine coordinate system for rotary
axis B is at 0 degrees, assume:
Rotary table position = (5.0, 2.0, -15.0)
Intersection offset vector between the tool axis and the tool rotary axis = (3.0, 0, 2.0)
The settings of the parameters for the mixed-type machine stated above are as
follows:

machining
Draw
No.
A-78709E
No. (IS-B)

19681 5(B) Controlled axis number for the first rotary axis
19682 2(Y) Axis direction for the first rotary axis
19686 4(A) Controlled axis number for the second rotary axis
19687 1(X) Axis direction for the second rotary axis
19698 0 Reference angle RA
19699 0 Reference angle RB
19700 5000 Rotary table position (X-axis)
19701 2000 Rotary table position (Y-axis)
19702 -15000 Rotary table position (Z-axis)
Y0
Z0

machining
Draw
No.
A-78709E
1.1.5.3 Parameters
The parameters for this function are as follows:
19680 Type of a mechanical unit
[Data type] Byte

[Valid data range] 0 to 21
Specify the type of a mechanical unit.
PRM19680 Rotary axis to be Master and slave
controlled
0 Mechanical unit with no
rotary axis
2 Two tool rotary axes Use the first and second rotary
axes, respectively, as the master
and slave axes.
12 Two table rotary axes Use the first and second rotary
axes, respectively, as the master
and slave axes.
21 One tool rotary axis + one Use the first and second rotary
table rotary axis axes, respectively, as the tool rotary
axis and table rotary axis.
NOTE
Count also hypothetical axis as a rotary axis to be controlled
<About the hypothetical axis>
In some cases, it is convenient to use an imaginary rotary axis
whose angle is fixed at a certain value.
An example of these cases might be a case in which a tool is
mounted through an attachment in a slanted manner.
In this case, the imaginary axis is the hypothetical axis.
Parameter No.19696#0,#1,#2 specify whether the corresponding
axes are ordinary or hypothetical axes.
First rotary axis (master)

Tool rotary axis
Second rotary axis (slave)
Second rotary axis (slave)

Table rotary axis
First rotary axis (master)

machining
Draw
No.
A-78709E
19681 Controlled axis number for the first rotary axis
[Data type] Byte

[Valid data range] 0 to Number of controlled axes
Specify the controlled axis number for the first rotary axis.
19682 Axis direction for the first rotary axis
[Data type] Byte

Specify the axis direction for the first rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
2
Y
X Parameter No.19682
19684 Retraction direction for the first rotary axis
[Data type] Byte

Specify the direction in which the first rotary axis rotates as machine movement
when a positive movement command is issued.
0: Counterclockwise as viewed in the positive direction set in parameter No.19682
1: Clockwise as viewed in the positive direction set in parameter No.19682
Usually, reset the parameter to 0 for the tool rotary axis, and set the parameter to 1
for the table rotation axis.

machining
Draw
No.
A-78709E
19685 Rotation angle when the first rotary axis is a hypothetical axis
[Data type] 2 Word

[Unit of data]
increment system IS-B IS-C Unit
Data unit 0.001 0.0001 deg
[Valid data range] -99999999 - +99999999
Specify a rotation angle for the first rotary axis if it is a hypothetical axis (parameter
IA1 (No.19696#0) = 1).
19686 Controlled axis number for the second rotary axis
[Data type] Byte

[Valid data range] 0 to Number of controlled axes
Specify the controlled axis number for the second rotary axis.
19687 Axis direction for the second rotary axis
[Data type] Byte

Specify the axis direction for the second rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
19689 Retraction direction for the second rotary axis
[Data type] Byte

Specify the direction in which the second rotary axis rotates as machine movement
when a positive movement command is issued.
0: Counterclockwise as viewed in the positive direction set in parameter No. 6168
1: Clockwise as viewed in the positive direction set in parameter No. 6168
Usually, reset the parameter to 0 for the tool rotary axis, and set the parameter to 1
for the table rotation axis.

machining
Draw
No.
A-78709E
19690 Rotation angle when the second rotary axis is a hypothetical axis
[Data type] 2 Word

[Unit of data]
[Valid data range] -99999999 - +99999999
Specify a rotation angle for the second rotary axis if it is a hypothetical axis
(IA2(parameter No.19696#1) = 1).
#7 #6 #5 #4 #3 #2 #1 #0
19696 IA2 IA1
[Data type] Bit

#0 IA1
0: The first rotary axis is an ordinary rotary axis.
1: The first rotary axis is a hypothetical rotary axis.
In this case, reset the controlled axis number for the first rotary axis (parameter No.
19681) to 0. Also set parameter No. 19682 to No. 19685 on the assumption that
there are rotary axes.
#1 IA2
0: The second rotary axis is an ordinary rotary axis.
1: The second rotary axis is a hypothetical rotary axis.
In this case, reset the controlled axis number for the second rotary axis (parameter
No. 19686) to 0. Also set parameter No. 19687 to No. 19690 on the assumption that
there is a rotary axis.
19697 Standard tool axis direction
[Data type] Byte

Specify the tool axis direction in the machine coordinate system when the rotary axis
for controlling the tool is at 0 degrees.
Also specify the tool axis direction in the machine coordinate system for a
mechanical unit that has only a rotary axis for controlling the table (no rotary axis for
controlling the tool).
1: +X-axis direction
2: +Y-axis direction
3: +Z-axis direction
When directions of the standard tool axis do not turn even in the direction X, Y, and
Z, an appropriate angle to standard angle RA and standard angle RB (parameter
No.19698 and No.19699) is set.

machining
Draw
No.
A-78709E
Z
Tool axis direction
The tool axis direction is the
+Z-axis direction.
Y
The tool axis direction is
the +X-axis direction.
The tool axis direction is the

+Y-axis direction.
X
19698 Angle when the standard tool axis direction is tilted (reference angle RA)
19699 Angle when the standard tool axis direction is tilted (reference angle RB)
[Data type] 2 Word

[Unit of data]
[Valid data range] -99999999 - +99999999
When the standard tool axis (parameter No.19697) is in the X-axis direction(“1”),
the tool axis is set up by tilting it through RA degrees from the positive X-axis to the
positive Y-axis in the X-Y plane and then tilting it through RB degrees from the
positive Y-axis to the positive Z-axis in the Y-Z plane.
When the standard tool axis (parameter No.19697) is in the Y-axis direction(“2”),
the tool axis is set up by tilting it through RA degrees from the positive Y-axis to the
positive Z-axis in the Y-Z plane and then tilting it through RB degrees from the
positive Z-axis to the positive X-axis in the Z-X plane.
When the standard tool axis (parameter No.19697) is in the Z-axis direction(“3”),
the tool axis is set up by tilting it through RA degrees from the positive Z-axis to the
positive X-axis in the Z-X plane and then tilting it through RB degrees from the
positive X-axis to the positive Y-axis in the X-Y plane.

machining
Draw
No.
A-78709E
Tool axis direction when the standard tool axis is in the Z-axis direction
Z Z Z
Y Y Y
X X X
R R
Parameter No.19698 Parameter No.19699
Tool length offset
Tool holder offset
19700 Rotary table position (X-axis, one of the basic three axes)
19701 Rotary table position (YX-axis, one of the basic three axes)
19702 Rotary table position (Z-axis, one of the basic three axes)
[Data type] 2Word

[Unit of data]
increment system IS-B IS-C unit
Millimeter machine 0.001 0.0001 mm
Inch machine 0.0001 0.00001 inch
[Valid data range] -99999999 to +99999999
Set these parameters when parameter No.19680 = 12 or 21. To be specific, set the
vector from the machine coordinate system origin to point A on the first rotary axis of
the table as the position of the rotary table in the machine coordinate system in
these parameters.
CAUTION
Select, as point A, a position on the first rotary axis of the table where
measurement is easy.

machining
Draw
No.
A-78709E
19703 Intersection offset vector between the first and second rotary axes of the
table (X-axis, one of the basic three axes)
table (Y-axis, one of the basic three axes)
table (Z-axis, one of the basic three axes)
[Data type] 2 Word

[Unit of data]
Set this parameter if the first and second rotary axes of the table do not cross each
other. The setting becomes effective if parameter No. 19680 = 12. If all the rotary
axes for controlling the table are at 0 degrees, specify the vector from point A to
point B on the second rotary axis of the table as the intersection offset vector in the
machine coordinate system.
CAUTION
Select, as point B, a position on the second rotary axis of the table where
measurement is easy.
If the table rotary axes do not cross each other
Y
Second rotary axis of the table
= PRM19686 X
Machine
Z coordinate
B system
First rotary axis of the

A table = PRM19681
Intersection vector between the first and Position of the rotary table
second rotary axes of the table = PRM19700,19701,19702
= PRM19703,19704,19705

machining
Draw
No.
A-78709E
19709 Intersection offset vector between the tool axis and the first rotary axis of
the tool (X-axis, one of the basic three axes)
the tool (Y-axis, one of the basic three axes)
the tool (Z-axis, one of the basic three axes)
[Data type] 2 Word

[Unit of data]
Set this parameter if the tool axis and the rotary axis of the tool do not cross each
other. The setting becomes effective if parameter No. 19680 = 2, or 21.
If parameter No. 19680 = 21, when all the rotary axes for controlling the tool are at 0
degrees, specify the vector from point D on the tool axis to point E on the first rotary
axis of the tool as the intersection offset vector in the machine coordinate system.
If parameter No. 19680 = 2, when all the rotary axes for controlling the tool are at 0
degrees, specify the vector from point D on the tool axis to point E on the second
rotary axis of the tool as the intersection offset vector in the machine coordinate
system.
CAUTION
Point D is a point from the tool center point obtained by taking the tool
length offset and tool holder offset (parameter No. 19666) into account.
Select, as point E, a position where measurement is easy.
If the tool axis and the tool rotary axis do

not cross each other Controlled point

E
the tool axis and the first rotary
axis of the tool
First rotary axis of the tool = PRM19709,19710,19711
= PRM19681
D
Tool holder offset
= PRM19666
Tool length offset
Tool center point

machining
Draw
No.
A-78709E
tool (X-axis, one of the basic three axes)
tool (Y-axis, one of the basic three axes)
tool (Z-axis, one of the basic three axes)
[Data type] 2 Word

[Unit of data]
Set this parameter if the tool rotary axes do not cross each other. The setting
becomes effective if parameter No. 19680 = 2.
If all the rotary axes for controlling the tool are at 0 degrees, specify the vector from
point E on the second rotary axis of the tool to point F on the first rotary axis of the
tool as the intersection offset vector in the machine coordinate system.
CAUTION
Select, as point F, a position where measurement is easy.
If the toll rotary axes do First rotary axis of the tool

not cross each other = PRM19681

the second rotary axis and the
first rotary axis of the tool
Controlled point = PRM19712,19713,19714
F
Intersection offset vector

between the tool axis and the
E first rotary axis of the tool
= PRM19709,19710,19711
= PRM19686 D Tool holder offset
= PRM19666
Tool length offset
Tool center point

machining
Draw
No.
A-78709E
#7 #6 #5 #4 #3 #2 #1 #0
19665 SVC SPR
[Data type] Bit

#4 SPR Specify a method for shifting a controlled point as follows:
0: Automatic calculation
1: Use parameter No. 19667.
#5 SVC Specify whether the controlled point is to shift as follows:

0: Not to shift
1: To shift
To specify a method for shifting a controlled point , use parameter SPR (parameter
No. 19665#4).
19667 Shift vector for the controlled point
[Data type] 2 Word axis

[Unit of data]
Specify a shift vector for the controlled point. The setting becomes effective when
parameter SVC (parameter No. 19665#5) =1 and parameter SBP (parameter No.
19665#4) = 1.
Parameter SVC Parameter SPR Controlled point shift

(No.19665#5) (No.19665#4)
0 - The controlled point does not shift.
1 0 The controlled point shifts according to the result of automatic
calculation as follows.
- (Intersection offset vector between the tool axis and the first rotary
axis of the tool + intersection offset vector between the second and
first rotary axes of the tool + tool holder offset (parameter No. 19666))
1 1 The controlled point shifts.
The shift vector is the one set in parameter No. 19667.

machining
Draw
No.
A-78709E
Controlled-point shift
First rotary axis of the tool
= PRM19681
Controlled point
F Controlled-point shift vector

= PRM19667

D
= PRM19686
Tool center point
19666 Tool holder offset value
[Data type] 2 Word

[Unit of data]
Specify the tool axis direction tool length compensation function, tool tip center
rotation handle feed/interruption and tool tip position display, tool center point control,
tool center point control for 5-axis machining, and offset of the machine-specific
section between the rotation center of the rotation axis and the tool mounting
position (tool holder offset) in the tilted working plane command. For the tool axis
direction tool length compensation function, however, this parameter is valid when
the ETH (No.19665#7) parameter is set to make the tool holder offset function valid.
#7 #6 #5 #4 #3 #2 #1 #0
19608 DET
[Data type] Bit

#2 DET In the function corresponding to the rotary table under tool center point control, the
relative and absolute positions of a specified path are displayed in:
0: Programming coordinate system
1: Machine coordinate system

machining
Draw
No.
A-78709E
1.1.6 Alarm And message
Number Message Contents

P/S5420 ILLEGAL PARAMETER IN G43.4/ The parameter related to tool center point control is not
G43.5 correct.
P/S5422 EXCESS VELOCITY IN G43.4/G43.5 Tool center point control resulted in an axis trying to move
faster than the maximum cutting feed rate.
P/S5425 ILLEGAL OFFSET VALUE The offset number is incorrect.
P/S5459 ILLEGAL PARAMETER OF MACHINE A parameter (No.19680 to No.19684 or No.19665 to
COMPONENT No.19667) for configuring the machine is incorrect.

machining
Draw
No.
A-78709E

Tool Center Point Control For 5-Axis Machining Specifications

Uploaded by

Document Informationclick to expand document information

Copyright:

Available Formats

Tool Center Point Control For 5-Axis Machining Specifications

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Tool Center Point Control For 5-Axis Machining Specifications

Uploaded by

Copyright:

Available Formats

FANUC Series 16i-MB

FANUC Series 18i-MB5

Tool Center Point Control

FANUC Series 16i –MB, 18i –MB5

1.1 TOOL CENTER POINT CONTROL FOR 5-AXIS MACHINING ...................................................................... 3

FANUC Series 16i –MB, 18i –MB5

Tool Center Point control

Tool pivot point

Tool tip center path

Tool pivot point

Tool tip center path

FANUC Series 16i –MB, 18i –MB5

<1> Tool rotation

<2> Table rotation type

<3> Mixed-type machine

Fig. 1.1 (b) Three types of 5-axis machine

FANUC Series 16i –MB, 18i –MB5

Table rotation type machine

Tool center point path

Fig.1.1 (c) Tool center point path

FANUC Series 16i –MB, 18i –MB5

Command end point

The cutting path is straight.

Fig.1.1 (d) Linear interpolation on program coordinate system

FANUC Series 16i –MB, 18i –MB5

When AI High Precision Countour Control or AI NANO High Precision Countour

FANUC Series 16i –MB, 18i –MB5

G49 ; Cancels tool center point control.

Controlled point and

Tool offset value

FANUC Series 16i –MB, 18i –MB5

The tool compensation vector changes in the following cases:

- Programming coordinate system

FANUC Series 16i –MB, 18i –MB5

C-axis reference position

When C43.4 is Tool center point

When C43.4 is Tool center point

FANUC Series 16i –MB, 18i –MB5

FANUC Series 16i –MB, 18i –MB5

- Tool behavior at start and cancellation

- Current position display when tool center point control is in use

FANUC Series 16i –MB, 18i –MB5

FANUC Series 16i –MB, 18i –MB5

Control point tracks

Tool center point tracks

FANUC Series 16i –MB, 18i –MB5

Explained below is a machine configuration (trunnion) in which a rotary table that

FANUC Series 16i –MB, 18i –MB5

Tool tip path if the programming

Tool center point path (in the programming coordinate system)

FANUC Series 16i –MB, 18i –MB5

FANUC Series 16i –MB, 18i –MB5

Tool tip path if the programming

Controlled point path

Tool center point path (in the programming coordinate system)

FANUC Series 16i –MB, 18i –MB5

FANUC Series 16i –MB, 18i –MB5

Operation when the C-axis stands still