1.

FANUC 5 AXIS PROGRAMMING CODES

1.1. TOOL CENTER POINT (TCP)

The G43.4/G43.5 codes enable the operator to carry out a tool length compensation not
only during 3-axis machining but also during the execution of a 5-axis program.
The correct syntax of the command is

G43.4 Hn (TCP Type 1)

Activation of the TCP by indicating the tool direction through the head corners.
By Hn the operator-input corrector is meant in which the length of the tool mounted in
the electrospindle is found and that needs to be measured (from spindle nose to tool
end).

G43.5 Hn Q… I… J… K… (TCP Type 2)

Activation of the TCP by indicating the tool direction through the head corners.
By Hn the operator-input corrector is meant in which the length of the tool mounted in
the electrospindle is found and that needs to be measured (from spindle nose to tool
end).
With I J and K the tool direction vectors are defined.
With Q the tool inclination angle is defined.

G49 H0

It deactivates the compensation of the tool length in space.

Hereafter described are the machine configuration parameters for using the TCP
19666 Pivot value
19680 Machine type, normally 2
19681 C AXIS
19682 C-axis rotation axis
19686 B AXIS
19687 Rotation direction
19697 B-axis rotation axis

All parameters relating to the TCP function are those going from 19665 to 19745.
For using the Fanuc portable keyboard with activated TCP the tool length value must be
entered in parameter 12318.

Example of configuration of the TCP table for the Ares machining centre.
19666 135000
19680 2
19681 5
19682 3
19686 4
19687 2
19697 3

After activating the G43.4 function and if set correctly, by moving the machining centre
rotary axes an interpolation of the X, Y and Z axes will be noticed: practically the tool bit
will stand still in space and the linear axis dimensions (XYZ) will remain the same, even
changing the position of the rotary axes (B/A – C).

1.2. CREATION OF VIRTUAL WORK PLANES (TWP)

The TWP function enables programming any machining function in a rotated space with
angles defined at will with respect to the Cartesian triplet of the machine tool.
This enables the operator to program the definition of the profile to define in the normal
Cartesian system (XYZ), for then delegating the CNC the task of calculating the axis
handling according to virtual planes deriving from rotation.

For establishing the rotation direction of the virtual triplet refer to the right hand rule.

Right hand rule.

It is possible to define a virtual work plane in different ways :

1.2.1. G68.2 (standard twp)

G68.2 Xx0 Yy0 Zz0 Iα Jβ Kγ
It sets the new coordinate system (virtual plane) by using Eulero’s angles (see enclosed
figure)

where:
Xx0 Yy0 Zz0
Origin of the new coordinate system

Iα Jβ Kγ
Eulero’s angle for determining the orientation of the new coordinate system

CONVERSION OF COORDINATES THROUGH EULERO’S ANGLE

 Conversion from the workpiece X-
Y-Z coordinate system to the X’-Y’-
Z coordinate system

Conversion from the X’-Y’-Z

coordinate system 1 to the X’-Y’’-
Z’’ coordinate system 2

Conversion from the X’-Y’’-Z’’

coordinate system 2 to the Xc-Yc-Zc
characteristic coordinate system

The conversion of the coordinates is carried out by rotating around the origin of the
workpiece coordinate system.
Coordinate system 1 is the coordinate system obtained by rotating the workpiece
coordinate system by α degrees around the Z axis.
Similarly, coordinate system 2 is the coordinate system obtained by rotating coordinate
system 1 by ß degrees around the X axis.
The coordinate system of the characteristic is the coordinate system obtained by
translating by (Xo, Yo, Zo) from the workpiece coordinate system origin the coordinate
system determined by the rotation of coordinate system 2 by γ degrees around the Z
axis.

FOR INSTANCE:
Z tool axis, B and C rotary C: First rotary axis (master)
axes (with intersecting axes)

B: Second rotary axis (master)

Tool holder compensation = Controlled

Parameter N. 19666 point

Tool length corrector = H01 Tool center

Block N3: defines a characteristic coordinate system within the

workpiece coordinate system.
Block N4: brings the tool controlled point on Z30.0 point into the
characteristic coordinate system.
Block N5: automatically controls the rotary axes.
Block N6: carries out the tool length compensation within the
characteristic coordinate system.
Brings the tool center on the characteristic coordinate
system origin.
The following figure illustrates the behaviour of the machining centre during the
execution of the exemplifying program.

Example of program 1 (with intersecting axes)

Block N3

Controlled
point

Coordinate system of Xc-

Block N4 Yc-Zc characteristic
Coordinate
system of X-Y-
Z workpiece

Block N5

Block N6

1.2.2. G68.3 (twp by tool axis direction)

Definition of a virtual work plane that is perpendicular to the tool direction.
G68.3 Xx0 Yy0 Zz0 Rα

where:
Xx0 Yy0 Zz0
Origin of the new coordinate system

Rα
Rotation of the plane around Z for defining the direction of the newly-generated plane
(by default 0°)
 1.2.3. G68.2 P… (Guidance twp Option request)

With series 30 – 31 new ways for defining the virtual plane have been implemented ;
they are described below.

2.3.1.1. Rotation from original triplet

G68.2 P1 Qq Xx0 Yy0 Zz0 Iα Jβ Kγ

where:

Xx0 Yy0 Zz0

Origin of the new coordinate system

Iα Jβ Kγ
Angles for determining the orientation of the new coordinate system (no Eulero);
rotations with order defined in Q parameter

Qq
Order in which the axes are rotated (by default Q123)
 2.3.2.1. Rotation through 3 points on the plane

G68.2 P2 Q0 Xx0 Yy0 Zz0 Rα (Origin of the new coordinate system)

G68.2 P2 Q1 Xx1 Yy1 Zz1 (coordinate P1)
G68.2 P2 Q2 Xx2 Yy2 Zz2 (coordinate P2)
G68.2 P2 Q3 Xx3 Yy3 Zz3 (coordinate P3)

where:

Xx0 Yy0 Zz0

Origin of the new coordinate system
Xx1 Yy1 Zz1
Coordinates of first P1 point

Xx2 Yy2 Zz2

Coordinates of second P2 point

Xx3 Yy3 Zz3

Coordinates of third P3 point

Rα
Rotation of the plane around Z for defining the direction of the newly-generated plane
(by default 0°)

N.B. It is necessary to specify all the plane generating blocks in order to obtain the
desired virtual plane
 2.3.3.1. Rotation through 2 vectors

G68.2 P3 Q1 Xx0 Yy0 Zz0 Iα1 Jß1 Kγ1 (1st vector)

G68.2 P3 Q2 Iα2 Jß3 Kγ2 (2nd vector)
where:
Xx0 Yy0 Zz0
Origin of the new coordinate system

Q1 Iα1 Jβ1 Kγ1

Definition of the first vector

Q2 Iα2 Jβ3 Kγ2

Definition of the second vector
 2.3.4.1. Rotation through the projection angles

G68.2 P4 Qq Xx0 Yy0 Zz0 Iα Jβ Kγ

where:

Xx0 Yy0 Zz0

Origin of the new coordinate system

Iα Jβ Kγ
Definition of the projection angles for plane identification

1.2.4. G68.4 P… (incremental twp - Guidance twp Option request)

Incremental definition of a virtual work plane.
Its use requires the generation of a previous virtual work plane and it uses the same
definition rules.

Therefore the result will be:

G68.4 P1 Qq Xx0 Yy0 Zz0 Iα Jβ Kγ (angles from original triplet)

G68.4 P2 Q0 Xx0 Yy0 Zz0 Rα (Origin of the new coordinate system)

G68.4 P2 Q1 Xx1 Yy1 Zz1 (coordinate P1)
G68.4 P2 Q2 Xx2 Yy2 Zz2 (coordinate P2)
G68.4 P2 Q3 Xx3 Yy3 Zz3 (coordinate P3)

G68.4 P3 Q1 Xx0 Yy0 Zz0 Iα1 Jß1 Kγ1 (1st vector)

G68.4 P3 Q2 Iα2 Jβ3 Kγ2 (2nd vector)

G68.4 P4 Qq Xx0 Yy0 Zz0 Iα Jβ Kγ (projection angles)

 1.2.5. TWP deactivation (G69)

69 command cancels any previously activated coordinate system.

1.2.6. Tool automatic orientation (G53.1 / G53.6)

After activating the virtual work plane it is possible to orient the machining centre head
perpendicularly with respect to the generated plane in 2 ways.

G53.1
Automatic orientation of the rotary axes perpendicularly with respect to the new
generated triplet without using the TCP.

G53.6 Hh
Automatic orientation of the rotary axes perpendicularly with respect to the new
generated triplet by using the TCP.