User manual FANUC 160I-MB

[. . . ] GE Fanuc Automation Computer Numerical Control Products Series 16i/160i/160is-MB Series 18i/180i/180is-MB5 Series 18i/180i/180is-MB Operator's Manual GFZ-63534EN/02 June 2002 GFL-001 Warnings, Cautions, and Notes as Used in this Publication Warning Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use. In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used. Caution Caution notices are used where equipment might be damaged if care is not taken. Note Notes merely call attention to information that is especially significant to understanding and operating the equipment. This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. [. . . ] Therefore, contour figure on the cutting side can be assumed to be the same anytime without depending on the amount of the cutter compensation. This function can be used in AI high precision contour control mode or in AI NANO high precision contour control mode. Conventional cylindrical interpolation Cylindrical interpolation based on this function Rotation Workpiece Rotation Cutting side Command Position Cutting side Command Position Tool Tool center In the case of the amount of the cutter compensation is large; Y­axis Rotation Workpiece Rotation Cutting side Command Position Shape on the cutting side changes depending on the amount of cutter compensation because the tool path is compensated by moving the rotation axis. Cutting side Y­axis Command Position Shape on the cutting side does not depend on the amount of cutter compensation by moving the Y axis. The cutting side is always vertical to the cylinder. Fig. 22. 2 (a) Comparison with Conventional Interpolation 633 22. RISC PROCESSOR PROGRAMMING B­63534EN/02 Format G05 P10000 ; : G07. 1 IPr ; : . . G41(G42). . : G07. 1 IP0 ; G05 P0 ; Sets AI High precision contour control mode. Clears AI high precison contour control mode. IP : One rotation axis address r : Cylinder radius of rotation axis Specify each of G07. 1 IPr; and G07. 1 IP0; singly in a block. Explanations D Cutting point compensation (1) Cutting point compensation between blocks As shown in Fig. 22. 2 (b), cutting point compensation is achieved by moving between blocks N1 and N2. 1) Let C1 and C2 be the heads of the vectors normal to N1 and N2 from S1, which is the intersection of the tool center paths of blocks N1 and N2 2) After the tool moves to S1 according to the command of N1, the tool moves through V on the C­axis as a result of cutting point p r along the Y­axis. compensation, then through ­V 180 Z­axis V : C­axis component of C1 ­ C2 C1 : Cutting surface of block N1 C2 : Cutting surface of block N2 S1 C2 N1 C1 Cutting surface of block N2 Programmed path N2 V Y­axis C­axis on the cylindrical surface Fig. 22. 2 (b) Cutting Point Compensation between Blocks (2) Cutting point compensation in a circular command block As shown in Fig. 22. 2 (c), the movement required for cutting point compensation is made simultaneously with circular interpolation in block N1. 634 B­63534EN/02 PROGRAMMING 22. RISC PROCESSOR 1) Let C0 be the head of the vector normal to N1 from S0, which is the tool center position at the start point of circular block N1. Let C1 be the head of the similar vector at the end point. 2) As the tool moves from S0 to S1, a superimposed movement is made by the C­axis component of (C1 ­ C2) (V in the figure) on the C­axis, and a superimposed movement is made by p ­V r along the Y­axis. That is, the 180 following expressions are valid. As movement is made through L as shown in Fig. 22. 2 (c), the superimposed movements are made on the C­axis and Y­axis as follows: DC + DV DY + * p (DV)r 180 nV : Cutting point compensation value (nV2 ­ nV1) for movement of nL nV1 : C­axis component of the vector normal to N1 from the tool center of the start point of nL nV2 : C­axis component of the vector normal to N1 from the tool center of the end point of nL R : Arc radius V : C­axis component of C1 ­ C0 C0 : Cutting surface at the start point of block N1 C1 : Cutting surface at the end point of block N1 Tool center path S1 C1 C0 Z­axis nL nV2 nV1 N1 V R Programmed path S0 C0 O C­axis on the cylindrical surface Y­axis Fig. 22. 2 (c) Cutting Point Compensation in a Circular Command Block (3) When cutting point compensation is not applied between blocks When, as shown in Fig. 22. 2 (e), the cutting point compensation value (V in the figures) is less than the value set in parameter No. 6112, one of the operations below is performed. (The operation that is performed depends on the setting of bit 6 (CYS) of parameter No. [. . . ] the use of the Cs contour control function by the sensor is set (bit 4 of parameter No. 4018 = 1). 19 20 21 22 23 24 25 NOTE*2 PSM contact signal Between ESP1 and ESP2 on the PSM Contact open: Emergency stop Contact closed: Normal operation 1219 G. ALARM LIST APPENDIX B­63534EN/02 12) System alarms (These alarms cannot be reset with reset key. ) Number 900 910 911 912 913 914 915 916 917 918 919 920 Message ROM PARITY SRAM PARITY : (BYTE 0) SRAM PARITY : (BYTE 1) DRAM PARITY : (BYTE 0) DRAM PARITY : (BYTE 1) DRAM PARITY : (BYTE 2) DRAM PARITY : (BYTE 3) DRAM PARITY : (BYTE 4) DRAM PARITY : (BYTE 5) DRAM PARITY : (BYTE 6) DRAM PARITY : (BYTE 7) SERVO ALARM (1­4 AXIS) Servo alarm (first to fourth axis). A watchdog alarm condition occurred, or a RAM parity error occurred in the axis control card. [. . . ]