FANUC Series 16i-MB

FANUC Series 18i-MB5

Tool Radius Compensation

For 5-Axis Machining

Specifications

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 1/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Contents -

1.1 TOOL RADIUS COMPENSATION FOR 5-AXIS MACHINING........................................................................ 3

General .............................................................................................................................................................................. 3
1.1.1 TOOL RADIUS COMPENSATION FOR TOOL ROTATION TYPE MACHINE ............................................................... 5
General .............................................................................................................................................................................. 5
1.1.1.1 Tool Side Compensation ................................................................................................................... 6
Format ............................................................................................................................................................................... 6
Description......................................................................................................................................................................... 7
1.1.1.2 Leading Edge Offset........................................................................................................................ 21
Format ............................................................................................................................................................................. 21
Description....................................................................................................................................................................... 22
1.1.1.3 Tool tip position (cutting point) command........................................................................................ 29
General ............................................................................................................................................................................ 29
Description....................................................................................................................................................................... 29
1.1.1.4 Specification of parameters ............................................................................................................. 32
Parameter specification example..................................................................................................................................... 34
1.1.2 TOOL RADIUS COMPENSATION FOR ROTARY TABLE TYPE MACHINE ............................................................... 35
General ............................................................................................................................................................................ 35
Format ............................................................................................................................................................................. 36
Description....................................................................................................................................................................... 36
Parameter specification example..................................................................................................................................... 39
1.1.3 TOOL RADIUS COMPENSATION FOR MIXED-TYPE MACHINE .......................................................................... 40
General ............................................................................................................................................................................ 40
Format ............................................................................................................................................................................. 41
Description....................................................................................................................................................................... 41
Parameter specification example..................................................................................................................................... 47
1.1.4 RESTRICTIONS .......................................................................................................................................... 48
1.1.4.1 Common restrictions........................................................................................................................ 48
1.1.4.2 Restrictions of tool rotation type ...................................................................................................... 51
1.1.4.3 Restrictions of includes table rotation axis machine (table rotation type, mixed-type) .................... 51
1.1.5 PARAMETERS ............................................................................................................................................ 52
1.1.5.1 About the machine configuration ..................................................................................................... 52
1.1.5.2 Parameters related to tool rotation axes.......................................................................................... 52
1.1.5.3 Parameters related to tool rotation axes.......................................................................................... 58
1.1.6 ALARM AND MESSAGE................................................................................................................................ 60

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 2/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1 Tool Radius Compensation For 5-Axis Machining

General
The tool radius compensation for 5-axis machining function is used with machines
that can control the direction of tool axis movement by using rotation axes. This
function performs cutter compensation by calculating a tool vector from the positions
of the rotation axes, then calculating a compensation vector in a plane
(compensation plane) that is perpendicular to the tool vector.

- Machine configurations
This function is applicable to the following machine configurations. (See Fig.1.1(a).)
<1> Tool rotation type machine controlled with two tool rotary axes
<2> Table rotation type machine controlled with two table rotary axes
<3> Mixed-type machine controlled with one tool rotary axis and one rotary axis

<1> Tool rotation

type machine
Z

B
X

<2> Table rotation type

machine
Z

Y
C
A

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 3/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 <3> Mixed-type machine

C Y

Fig.1.1 (a)

- Enabled functions
When the Tool radius compensation 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

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 4/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.1 Tool radius compensation for tool Rotation type machine
General
This function allows tool radius compensation to be performed on a 5-axis machine
having two tool rotation axis, such as that shown in the figure below.
The machine example shown in the figure below is a 5-axis machine having the tool
axis B about the Y-axis (the orientation of the tool axis being on the Z-axis) and the
tool rotation axis C about the Z-axis.
Tool radius compensation can be performed on such a machine.

There are two types of tool radius compensation : Tool side compensation and
leading edge compensation.

Z
C

Z
Work coordate system
Y

X
Y

Work coordinate system:

Coordinate system where program is made

Fig.1.1.1 (a)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 5/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.1.1 Tool Side Compensation

Tool side compensation is a type of cutter compensation that performs 3-

dimensional compensation on a plane (compensation plane) perpendicular to a tool
direction vector.

Programmed tool path

Tool vector (before compensation)
Cutter compensation
vector

Tool center
path(after
compensation)

Z
Y
X
Compensation
Cutter
plane
compensation amount

Fig.1.1.1.1 (a) Tool side compensation

Format
- Tool side compensation
G41.2 (or G42.2) X_ Y_ Z_ D_ ;
G41.2 : Tool radius compensation (left) (Group 07)
G42.2 : Tool radius compensation (right) (Group 07)
X,Y,Z : Specification of axis movement
D_ : Tool radius compensation amount specification code

NOTE
If SUV(No.5003#1)=1, never specify a move command such as
X_Y_Z_ in the G41.2/G42.2 block.

- Tool side offset cancel

G40 X_ Y_ Z_ ;

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 6/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Description
- Operation at compensation start-up and cancellation
(1) Type A
Type A operation is similar to cutter compensation as shown below.

Operation in linear interpolation

:Tool center path

:Programmed tool path

Tool

G40
G41.2

Operation in circular interpolation

:Tool center path

:Programmed tool path

G40

G42.2

Tool

Fig.1.1.1.1 (b) Operation at compensation start-up and cancellation

(Type A)

(2) Type B
Type B operation is similar to cutter compensation as shown below.

Operation in linear interpolation

:Tool center path

:Programmed tool path

Tool

G40
G41.2

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 7/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Operation in circular interpolation
:Tool center path

:Programmed tool path

G40

G42.2

Tool

Fig.1.1.1.1 (c) Operation at compensation start-up and cancellation

(Type B)

(3) To the movement of the next block for the vertical direction
As shown in the following figures, when G41.2, G42.2, or G40 is specified, a
block is inserted which moves the tool perpendicularly to the movement direction
specified in the next block by the distance of the tool radius.

Operation in linear interpolation

:Tool center path

:Programmed tool path

Tool

G41.2
G40

Operation in circular interpolation

:Tool center path

:Programmed tool path

G40

Tool
G42.2

Fig.1.1.1.1 (d) Operation at compensation start-up and cancellation

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 8/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 NOTE
If the movement of the next block for the vertical direction (parameter
SUV(No.5003#1)=1), the following conditions must be satisfied when tool
side compensation is started up or canceled :
1 The block containing G40, G41.2, or G42.2 must be executed in the
G00 or G01 mode.
2 The block containing G40, G41.2, or G42.2 must have no move
command.
3 The block after the block containing G41.2 or G42.2 must contain a
G00, G01, G02, or G03 move command.

- Operation in the compensation mode

Changing of offset directions and offset values, holding of vectors, interference
checks, and so on are performed in the same way as for cutter compensation. G39
(corner rounding) cannot be specified. So, note the following :

(1) When the tool center path goes outside the programmed tool path at a corner, a
linear movement block, instead of an arc movement block, is inserted to move
the tool around the corner. When the tool center path goes inside the
programmed tool path, no block is inserted.

A linear movement block is inserted No block is inserted

:Tool center path

:Programmed tool path
:Tool offset value
Workpiece

Tool

Workpiece
Tool

Example (1)-1 When going around the Example (1)-2 When going around the
outside of a corner with inside of a corner with
an acute angle an acute angle

Fig.1.1.1.1 (e) Operation in the compensation mode (1)-1, 2

In the above examples, the term "inside" means that the tool center path is
positioned inside the programmed tool path at a corner, and "outside" means
that the tool center path is positioned outside the programmed tool path. In
Example (1)-3, the relationship between the tool center path and the
programmed tool path is the same as in Example (1)-1; the tool center path is
positioned outside the programmed tool path. Example (1)-4 has the same
relationship as Example (1)-2, where the tool center path is positioned inside the
programmed tool path.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 9/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 : Tool center path
Workpiece
: Programmed tool path
: Tool offcet value

Actual tool
Actual tool

Reference tool

Workpiece

Reference tool

Example(1)-3 Example(1)-4

Fig.1.1.1.1 (f) Operation in the compensation mode (1)-3, 4

(2) When the tool moves at a corner, the feedrate of the previous block is used if
the corner is positioned before a single-block stop point; if the corner is after a
single-block stop point, the feedrate of the next block is used.

F100
Q1' Q2' (Single block stop point)

: Tool center path

Q
: Programmed path

Tool
Program(2)-1
N2 N3 :
N1 G90 G41.2 Xp Yp Zp Bp Cp D1 ;
N2 G01 Xq Yq Zq F100 ;
N3 Xr Yr Zr F200 ;
:
P' R'
P R
Example(2)-1

Fig.1.1.1.1 (g) Operation in the compensation mode (2)

In the above example, the single block stop point of N2 is Q2', so that the
feedrates along paths P'-Q1' and Q1'-Q2' are the same, namely, F100.

(3) When a command is specified to make the tool retrace the path specified in the
previous block, the tool path can match the locus of the previous block by
changing the G code to change the offset direction. If the G code is left
unchanged, the operation shown in Example (3)-2 results :

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 10/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 : Tool center path

: Programmed tool path

Example(3)-1 Tool movement when Example(3)-2 Tool movement when the

changing G41.2 to G42.2 G code is left unchanged

(G41.2 mode) (G41.2 mode)

G91 G01 X100.0 G91 G01 X100.0
G42.2 X-100.0 X-100.0

Fig.1.1.1.1 (h) Operation in the compensation mode (3)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 11/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Compensation vector calculation

e1=VT

VD
Z

P
e2 e3

Y
X
R

Fig.1.1.1.1 (i) Compensation vector calculation

In above figure, cutter compensation vector VD at point Q is calculated as follows :

(1) Calculating the tool vector (VT)
(2) Calculating the coordinate conversion matrix (M)
Coordinate systems are defined as follows :
- Coordinate system C1 : {O; X, Y, Z}
Cartesian coordinate system whose fundamental vectors are the following
unit vectors along the X-, Y-, and Z-axes :
(1, 0, 0)
(0, 1, 0)
(0, 0, 1)
- Coordinate system C2 : {O; e2, e3, e1}
Cartesian coordinate system whose fundamental vectors are the following
unit vectors :
e2
e3
e1
where, e2, e3, and e1 are defined as follows :
e1 = VT
e2 = b2 / |b2| , b2 = a2 - (a2,e1)- e1
e3 = b3 / |b3| , b3 = a3 - (a3,e1)- e1 - (a3,e2)- e2
a2 is an arbitrary vector linearly independent of e1, and a3 is an
arbitrary vector linearly indepen dent of e2 and e1.
The coordinate conversion matrix M from coordinate system C1 to C2, and the
-1
coordinate conversion matrix M from coordinate system C2 to C1 are
expressed as :
ée 2 ù
M = êê e3úú , M −1 = t e2( t
e3 t
)
e1
êë e1úû

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 12/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 (3) Converting coordinates from coordinate system C1 to coordinate system C2
The coordinates of the start and end points P and Q of a block and coordinates
of the end point R of the next block in coordinate system C1 are converted to
coordinates P', Q', and R' in coordinate system C2, respectively, by using the
following expressions :
P ' = MP
Q ' = MQ
R ' = MR
(4) Calculating the intersection vector (VD') in the compensation plane
{O; e2, e3}
In the coordinates in coordinate system C2 obtained in (3), two components (the
e1 component, the component of the tool direction, is excluded) are used to
calculate intersection vector VD' in the compensation plane.
e3
R'

VD'

P'

Q'
e2

Fig.1.1.1.1 (j) Compensation vector calculation

The e1 component of VD' is assumed to be always 0. The calculation is similar
to the calculation of cutter compensation C. Although one vector is obtained in
this example, up to four vectors may be calculated.
If the difference between the e2 and e3 components (in the compensation
plane) between two points is smaller than the value set in parameter No.19630
in intersection vector calculation, the block is assumed to specify no movement.
In this case, intersection calculation is performed using the coordinates of one
block ahead.
(5) Converting the intersection vector from coordinate system C2 to coordinate
system C1
From the following expression, vector VD' in coordinate system C2 is converted
to vector VD in coordinate system C1 :
VD = M −1VD '
Vector VD is the compensation vector in the original XYZ coordinate system.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 13/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Calculation used when the compensation plane is changed
(1) When a rotation axis and linear axis are specified at the same time
When a rotation axis and linear axis are specified in the same block in the G41.2
or G42.2 mode (the compensation plane changes frequently), the cutter
compensation vector is calculated using the coordinates of the rotation axis at
each point at which the vector is obtained.
<Example>
G90 G00 X0 Y0 Z0 B0 C0 ;
G01 F1000 ;
N1 G42.2 Xp Yp Zp Bp Cp D1 ;
N2 Xq Yq Zq Bq Cq ;
N3 Xr Yr Zr Br Cr ;
N4 Xs Ys Zs Bs Cs ;
:
Vector calculation at the end point (Q) of block N2
- The tool vector (VT) and coordinate conversion matrix (M) are calculated
using the coordi nates (Bq, Cq) of the rotation axis at point Q.
- The cutter compensation vector is calculated using the resultant coordinates
into which three points, P, Q, and R, are converted by matrix M.

Q
N3
R
N2
Q'
R'
N4
P

N1 P'

O S' S
Fig.1.1.1.1 (k) When a Rotation Axis and Linear Axis Are Specified at the
Same Time

(2) When a rotation axis is specified alone

When a rotation axis is specified alone in the G41.2 or G42.2 mode (the
compensation plane changes), the cutter compensation vector is calculated as
follows :
<Example>
G90 G00 X0 Y0 Z0 B0 C0 ;
G01 F1000 ;
N1 G42.2 Xp Yp Zp D1 ;
N2 Xq Yq Zq ;
N3 Br Cr ;
N4 Xs Ys Zs ;
:

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 14/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Vector calculation at the end point (Q) of block N2
- The tool vector (VT) and coordinate conversion matrix (MN2) are calculated
using the coordinates (B = 0, C = 0) of the rotation axis at point Q.
- The cutter compensation vector (VN2) is calculated using the resultant
coordinates into which three points, P, Q, and S, are converted by matrix
MN2.
Vector calculation at the end point of block N3
- The coordinate conversion matrix (MN3) is calculated using the coordinates
(Br, Cr) of the rotation axis at point R.
- The cutter compensation vector (VN3) is calculated from the following
expression :
VN3 = MN3-1(MN2-VN2)

Q=R(N3)
N4
VN2 =VN3 S
N2
Q'=R'
S'

N1 P'

O
Fig.1.1.1.1 (l) When a rotation axis is specified alone

- Interference check made when the compensation plane is changed

An interference check is made when the compensation plane (plane perpendicular to
a tool direction vector) is changed.
<Example>
If the program below is executed, a alarm(PS41) (overcutting due to offsetting) is
issued from N4.
O100 F3000
N1 G90 G00 X0 Y0 Z0 A-46 C180
N2 G41.2 D1
N3 G01 X100
N4 Y-200 Z-200
N5 A45
N6 Y-400 Z0
N7 X0
N8 Y-200 Z-200
N9 A-46
N10 Y0 Z0
N11 G40
M30

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 15/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Z
Y

N3
X

N10
N7
N4

N6
N8

N9 N5

Fig.1.1.1.1 (m) Conceptual Diagram

Z
C A
Vb Va

45° 46°

B Y
Va: Tool direction vector when A = -46
Vb: Tool direction vector when A=45
A: End point of N3
B: End point of N4
C: End point of N6

Fig.1.1.1.1 (n) Tool Direction Vector

e3

e2

V2

B’ C’ A’

V1

A’ : Point A projected onto the compensation plane

B’ : Point B projected onto the compensation plane
C’ : Point C projected onto the compensation plane

Fig.1.1.1.1 (o) Compensation Vector at the End Point (Point B) of N4 (on

Compensation Plane)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 16/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 The move direction of A'B' is opposite to that of B'C', so that two compensation
vectors, V1 and V2, are produced at point B' (end point of N4). There is a
possibility of overcutting in this case, so an alarm (PS41) is issued from N4.
(1) Conditions for issuing the interference alarm
Suppose that the tool direction vector changes considerably from one block to
another due to a move command for a rotation axis. In this case, an
interference alarm is assumed because compensation vectors are regarded as
being generated in the wrong directions when the path angle difference on the
compensation plane is large, even though the angle difference of the directions
of compensation vectors to be generated by those blocks is small.
Here, the compensation plane is perpendicular to the tool direction (Va in Fig.
14.14.1(q)) of the first of the two blocks.
Specifically, the conditions below are used for issuing the alarm.
Z
C A
Vb
Va
Ua

Ub
Wb Wa

B Y
X

Ua: Vector AB
Ub: Vector BC
Va: Tool direction vector between A and B
Vb: Tool direction vector between B and C
Wa: Va × Ua
Wb: Vb × Ub
(Here, × represents an outer product operator.)

Fig.1.1.1.1 (p) Conceptual Diagram

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 17/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 e3

e2

B’ C’ A’

Ra

Rb

A’ : Point A projected onto the compensation plane

B’ : Point B projected onto the compensation plane
C’ : Point C projected onto the compensation plane
Ra: Vector A'B'
Rb: Vector B'C'

Fig.1.1.1.1 (q) Programmed Path (on the Compensation Plane) before and
after the End Point (Point B) of N4
When all the following conditions are satisfied, an alarm (PS41) Issued.
(1) The tool direction vector changes remarkably.
α: Angle for determination set in parameter No.19633 (The default is 45°.)
(Va,Vb) ≤ cos(α)(Here, (Va,Vb) means an inner product.)
(2) The difference between the directions of the compensation vectors to be
generated is small.
Wa : Direction of a compensation vector to be generated by the AB block.
Wb : Direction of a compensation vector to be generated by the BC block.
Wa = Va × Ua
Wb = Vb × Ub
(Wa,Wb) ≥ 0
(3) The path angle difference on the compensation plane is large.
(Ra,Rb) < 0
(2) Suppressing the issue of the alarm with a Q command
By inserting a Q command into a block that issued the alarm, the issue of the
alarm can be suppressed.
(1) Q1 command
By inserting a Q1 command, a vertical vector is generated.
Example) N4 Y-200 Z-200 Q1
e3

e2

B’ C’ A’

At point B', a vector (V) perpendicular to A'B' is generated.

Fig.1.1.1.1 (r) Q1 Command

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 18/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 A vertical vector can also be generated by specifying G41.2 or G42.1 in the
next block as indicated in the example below.
Example) N6 G41.2 Y-400 Z0
(2) Q2 command
With a program specifying a linear-to-linear connection, up to two
compensation vectors are generated. In this case, the second vector is
deleted by inserting a Q2 command. The Q2 command has no effect on
circular interpolation.
Example) N4 Y-200 Z-200 Q2

e3

e2

B’ C’ A’

V1

The second vector (V2) is deleted, and only V1 is used as a compensation vector.

Fig.1.1.1.1 (s) Q2 Command

(3) Q3 command
By inserting a Q3 command, the issue of the alarm can be suppressed.
Example) N4 Y-200 Z-200 Q3

e3

e2

V2

B’ C’ A’

V1

The two vectors (V1 and V2) are not deleted.

Fig.1.1.1.1 (t) Q3 Command

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 19/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Others
Even when the tool movement changes linear to circular (helical), circular (helical)
to linear, or circular (helical) to circular (helical), the start, end, and center points of
a circular (helical) movement are projected on the compensation plane that is
perpendicular to the tool axis, a compensation vector is calculated for the plane,
then the vector is added to the originally specified position to obtain the command
position. Then the tool is moved linearly or circularly (helically) to the obtained
command position.

Tool axis

Tool

Y
Actual offset vector
End point
Start point
X
Move command

Actual tool center path

Projected

Offset vector created in

the compensation plane

Tool center path created in the

compensation plane
(Compensation plane = XY plane)

Fig.1.1.1.1 (u) Others

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 20/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.1.2 Leading Edge Offset

Leading edge offset is a type of cutter compensation that is used when a workpiece
is machined with the edge of a tool. A tool is automatically shifted by a specified
cutter compensation value on the line where a plane formed by a tool direction
vector and tool movement direction intersects a plane perpendicular to the tool axis
direction.

Tool vector
Tool used

Reference
tool

Tool center path

(after
compensation)
Programmed
Cutter compensation tool path
vector Cutter compensation
amount

Fig.1.1.1.2 (a) Reading edge offset

Format
- Leading edge offset
G41.3 D_ ;

- Leading edge offset cancel

G40 ;

NOTE
1 G41.3 can be specified only in the G00 or G01 mode. In a block
containing G41.3 or G40, only the addresses D, O, and N can be
specified.
2 The block after a block containing a G41.3 command must contain a
move command. In that block, however, tool movement in the
same direction as the tool axis direction or the opposite direction
cannot be specified.
3 No continuous-state G code that belongs to the same group as G00
and G01 can be specified in the G41.3 mode.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 21/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Description
- Operation at compensation start-up and cancellation
Unlike tool side compensation the operation performed at leading edge
compensation start-up and cancellation does not vary. When G41.3 is specified,
the tool is moved by the amount of compensation (VC) in the plane formed by the
movement vector (VM) of the block after a G41.3 block and the tool vector (VT)
obtained at the time of G41.3 specification. The tool movement is perpendicular to
the tool vector. When G40 is specified, the tool is moved to cancel VC. The
following illustrates how the compensation is performed.
(1) When the tool vector is inclined in the direction the tool moves

: Tool center path

: Programmed tool path

Tool vector(VT)

Tool

G41.3(VC) VM G40

Fig.1.1.1.2 (b) When the tool vector is inclined in the direction the tool moves

(2) When the tool vector is inclined in the direction opposite to the direction the tool
moves

: Tool center path

: Programmed tool path

Tool vector (VT)

Tool

G41.3(VC) VM G40

Fig.1.1.1.2 (c) When the tool vector is inclined in the direction opposite to the
direction the tool moves

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 22/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Operation in the compensation mode
The tool center moves so that a compensation vector (VC) perpendicular to the tool
vector (VT) is created in the plane formed by the tool vector (VT) at the end point of
each block and the movement vector (VM) of the next block.
Tool center path (after compensation) VT2
VT1

VC1 VC2
Programmed tool path VM3
VM1 VM2
VMn : Movement vector of block n
VTn : Tool vector at the end of block n
VCn : Compensation vector of block n (that lies in the VTn- VMn+1 plane, and is
perpendicular to VTn)

Fig.1.1.1.2 (d) Operation in the compensation mode

If a G code or M code that suppresses buffering is specified in the compensation
mode, however, the compensation vector created immediately before the
specification is maintained.

When a block involving no movement (including a block containing a move

command for a rotation axis only) is specified, the movement vector of the block
after the block involving no movement is used to create a compensation vector as
shown below.

Tool center path(after compensation) VT2

VT1

VC1
Programmed path VM4
VM1 VM2
VC2 = VC3 There is one block that
specifies no movement.

Fig.1.1.1.2 (e) There is one block that specifies no movement.

If block 3 involves no movement, the compensation vector of block 2 (VC2) is created

so that it is perpendicular to VT2 and lies in the plane formed by the movement vector
(VM4) of block 4 and the tool vector (VT2) at the end point of block 2.

NOTE
If two or more successive blocks involve no movement, the previously
created compensation vector is maintained. However, such
specification should be avoided.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 23/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Block immediately before the offset cancel command (G40)
In the block immediately before the compensation cancel command (G40), a
compensation vector is created from the movement vector of that block and the tool
vector at the end point of the block as shown below :

Tool center path (after compensation)

VT2
VT1
G40
VC1 VC2
Programmed path
VM1 VM2

Fig.1.1.1.2 (f) Block Immediately before G40

The compensation vector (VC2) of block 2 is created so that it is perpendicular to VT2

and lies in the plane formed by the tool vector (VT2) at the end point of block 2 and
the movement vector (VM2) of block 2.

- Method of compensation vector calculation

In leading edge compensation, the compensation vector is calculated as follows :
(1) Tool vector
(2) Movement vector
The movement vector (VMn+1) of block n+1 is obtained from the following
expression :
Xn : Absolute coordinate value of X axis
é X n +1 − X n ù at end point of block n
VM = êY − Yn ú
n +1 ê n +1
Yn : Absolute coordinate value of Y axis
ú
ëê Z n +1 − Z n ûú at end point of block n
Zn : Absolute coordinate value of Z axis
at end point of block n

(3) Compensation vector

The direction of the compensation vector (VCn) of block n is defined as follows :
(1) (VMn+1, VTn) > 0 (0deg < θ < 90deg.)

VTn
Direction of VCn
VCn
θ (VMn+1 × VTn) × VTn
VMn+1

VMn+1 θ represents the included angle

VCn θ
between VMn+1 and VTn.
VTn (0° ≤ θ ≤ 180°)

Fig.1.1.1.2 (g) Direction of the compensation vector (1)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 24/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 (2) (VMn+1,VTn) < 0 (90deg < θ < 180deg.)

VCn
θ Direction of VCn
VTn
-(VMn+1 × VTn)× VTn
VMn+1

VMn+1
VTn

θ
VCn

Fig.1.1.1.2 (h) Direction of the compensation vector (2)

The compensation vector (VCn) of block n is calculated from VTn and VMn+1 as
described below.

R= offset value value

R = Offset
éVTX ù
VTn = êêVTY úú
êëVTZ úû
éVMX ù
V M n +1 = êêVMY úú
êëVMZ úû
éV X ù
(
V = êêVY úú = VM n +1 × VTn × VTn )
êëVZ úû
éVTZ (VMZ VTX − VMX VTZ ) − VTY (VMX V TY −VMY VTX )ù
= êêVTX (VMX VTY − VMY VTX ) − VTZ (VMY V TZ −VMZ VTY )úú
êëVTY (VMY VTZ − VMZ VTY ) − VTX (VMZ V TX −VMX VTZ )úû
Then,
(1) When(VMn+1, VTn) > 0 (0deg. < θ < 90deg.)
éV X ù
R êV ú
VCn =
V 2 + V 2 + V 2 êê úú
Y
X Y Z ëV Z û
(2) When(VMn+1, VTn) < 0 (90deg. < θ < 180deg.)
éV X ù
−R êV ú
VCn =
V 2 + V 2 + V 2 êê úú
Y
X Y Z V
ë Zû

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 25/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - Compensation performed when θ is approximately 0deg., 90deg., or 180deg.
When the included angle θ between VMn+1 and VTn is regarded as 0deg., 180deg., or
90deg., the compensation vector is created in a different way. So, when creating
an NC program, note the following points :
(1) Setting a variation range for regarding θ as 0deg., 180deg., or 90deg.
When the included angle (θ) between the tool vector (VT) and the movement
vector (VM) becomes approximately 0deg., 180deg., or 90deg., the system
regards θ as 0deg., 180deg., or 90deg., then creates a compensation vector
which is different from the normal compensation vector. The variation range
used for regarding θ as 0deg., 180deg., and 90deg. is or in parameter No.19631.
For example, suppose that the angle set in parameter No.19631 is ∆θ.

(1) If 0 ≤ θ ≤ ∆θ, θ is regarded as 0deg.

∆θ
VTn
θ

VMn+1

Fig.1.1.1.2 (i) Determination of θ=0deg.

(2) If (180-∆θ) ≤ θ ≤ 180, θ is regarded as 180deg.

θ
∆θ
VTn

VMn+1

Fig.1.1.1.2 (j) Determination of θ=180deg.

(3) If (90-∆θ) ≤ θ ≤ (90+∆θ), θ is regarded as 90deg.

∆θ ∆θ

VTn
VTn

θ θ

VMn+1 VMn+1

Fig.1.1.1.2 (k) Determination of θ=90deg.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 26/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 (2) Compensation vector whenθ is regarded as 0deg.or 180deg.
If θ is regarded as 0deg.or 180deg.when G41.3 is specified to start leading edge
compensation, alarm PS5408 is issued. This means that the tool vector of the
current block and the movement vector of the next block must not point in the
same direction or in opposite directions at start-up.
The previously created compensation vector is maintained other than at start-up
at all times.
If the included angles between VT2 and VM3, VT3 andVM4, and VT4 and VM4, and
VT4 and VM5 are regarded as 05, the compensation vector VC1 of block 1 is
maintained as the compensation vectors VC2, VC3, and VC4, of blocks 2, 3, and 4,
respectively.

Tool center path

(after compensation)
VT1 VT5
VC1 VC2 VC5
VM1 VT2 VC3 VT3 VC4 VT4
VM2 VM3 VM6
Programmed VM4 VM5
Path

Fig.1.1.1.2 (l) When θ=0deg.Is Determined

If the included angles between VT2 and VM3, VT3 andVM4, and VT4 and VM5 are
regarded as 180deg., the compensation vector VC1 of block 1 is maintained as
the compensation vectors VC2, VC3, and VC4 of blocks 2, 3, and 4, respectively.

Tool center path

(after compensation)
VT5
VT1
VC1 V
Programmed M2 VC2 VM3 VC3 VT4 VC4 VC5
path VM1
VT2 VT3 VM6
VM4 VM5

Fig.1.1.1.2 (m) When θ=180deg. Is Determined

(3) Compensation vector when θ is regarded as 90deg.

If the previous compensation vector (VCn-1) points in the opposite direction ((VMn
× VTn-1) ×VTn-1 direction) to VMn with respect to VTn-1, the current compensation
vector (VCn) is created so it points in the (VMn+1 × VTn) ×VTn direction.

Tool center path VT2

(after compensation) VT3 VT4
VT1 VT5
VC1 VC2 VC5
VM1 VC3 VC4
VM2 VM3 VM6
Programmed VM4 VM5
path

Fig.1.1.1.2 (n) When θ=90deg. Is Determined (1)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 27/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 If the previous compensation vector (VCn-1) points in the same direction ( -(VMn ×
VTn-1) × VTn-1 direction) as VMn with respect to VTn-1 , the current compensation
vector (VCn) is created so it points in the -(VMn+1 × VTn) ×VTn direction.

Tool center path

(after compensation) VT2
VT3 VT4
VT5
VT1 VC5
VC1 VC2
VM1 VC3 VC4
VM2 VM3 VM6
Programmed VM4 VM5
path

Fig.1.1.1.2 (o) When θ=90deg. Is Determined (2)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 28/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.1.3 Tool tip position (cutting point) command
General
For machines with a rotation axis for rotating a tool, this function performs three-
dimensional cutter compensation at the tool tip position if the program-specified
point is specified with a pivot point.
When this function is used, the program-specified point (pivot point) is converted into
a tool tip position (cutting point) and a three-dimensional cutter compensation vector
is calculated for the latter position. Then, the program-specified point (pivot point)
is compensated for with the three-dimensional cutter compensation vector.
If the tool side offset (G41.2/G42.2) of three-dimensional cutter compensation is
performed, the operation of this function will be as follows:

(1) If parameter No.19632 is 0 (conventional specification)

The three-dimensional cutter compensation vector is calculated at the program-
specified point (pivot point).
(2) If parameter No.19632 is not 0 (this function)
The three-dimensional cutter compensation vector is calculated at the tool tip
position (cutting point).

Description
- Operation explanation
This function calculates a vector at the tool tip position for the three-dimensional
cutter compensation function as described below.

(1) Convert the programmed coordinates from a program-specified point (pivot

point) to a tool tip position (cutting point). Parameter No.19632 is used to store
the distance from the program-specified point (pivot point) to the tool tip position
(cutting point).
(2) Calculate a three-dimensional cutter compensation vector at the tool tip position
(cutting point).
(3) Add the cutter compensation vector to the program-specified point (pivot point).

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 29/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 3D cutter compensation vector
according to this specification

Program-specified
point (pivot point)

Conventional 3D cutter
compensation vector

Vector from program-specified point (pivot

point) to tool tip position (cutting point)

Distance from program-specified

Tool center
point (pivot point) to cutting point
(set for parameter)
Tool side

Tool tip position

(cutting point) Tool

3D cutter compensation
vector according to this
specification Workpiece

Fig.1.1.1.3 (a) Basic operation (for G42.2)

- Operation example
For a machine configuration in which the tool direction is along the Z-axis and the
rotation axes are the B&C axes (Fig.1.1.1.3 (b))
Assume that
LC: Parameter (No. 19632) for the distance from the program-specified point
(pivot point) to the tool tip position (cutting point)
ｂ: B-axis specified value, c: C-axis specified value
Q=(Qx,Qy,Qz): Program-specified point (pivot point)
P, R: Program-specified points (pivot points) in the preceding and succeeding
blocks
QT=(QTx,QTy,QTz): Tool position (tool tip position (cutting point)) resulting
from conversion
PT,RT: Tool positions (tool tip positions (cutting points) in the preceding and
succeeding blocks that result from conversion, then

(1) Convert the program-specified points (pivot points) P, Q, and R to the tool tip
positions (cutting points) PT, QT, and RT.
QTx ＝ LC × sin(b) × cos(c) + Qx
QTy ＝ LC × sin(b) × sin(c) + Qy
QTz ＝ LC × cos(b) + Qz
（The same applies to PT and RT.)
(2) Calculate the cutter compensation vector VD with the tool tip positions
(cutting points) PT, QT, and RT and the tool gradient VT.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 30/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 (3) Add the cutter compensation vector VD to the program-specified point (pivot
point) and set the result as the end point position.

LC
e3

Tool tip position

R’
VT

e1

Tool radius

VD
VD’
P’
e22 e3
Q’
e2
Coordinate system on the
compensation plane

The cutter compensation vector (VD') is calculated on the compensation plane

vertical to the tool direction.
The cutter compensation vector (VD') on the compensation plane is converted
to that in the original Cartesian coordinate system.
The resulting vector is the cutter compensation vector (VD).

Fig.1.1.1.3 (b) Calculation method

CAUTION
1 This function is not effective for leading edge offset.
2 With a command for a rotation axis only, this function does not
calculate a cutter compensation vector.
3 This function cannot be used in three-dimensional coordinate
conversion mode.
4 The cautions for the three-dimensional cutter compensation function
also apply to this function

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 31/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.1.4 Specification of parameters

The parameters used with this function are described below. Parameter numbers
are enclosed in brackets [ ].

- Relationships between rotation axes and rotation planes [19610 to 19619]

These parameters set the relationships between rotation axes and rotation planes.
In general, the direction vector of a rotation axis has components in three directions.
This function, however, can perform calculation on a rotation axis having a vector of
components in any two directions.

(1) For a component in a single direction ... type 1

(The rotation axis rotates about any of the three basic axes.)
Example: Z
Axis number of the rotation axis = 5 (C-axis)
C Y
Axis number of linear axis 1 = 1 (X-axis)
Axis number of linear axis 2 = 2 (Y-axis)
1) The rotation axis:
X
- Rotates about the axis orthogonal to the plane formed by linear axes 1 and 2
- Assumes that the rotation from the forward direction of linear axis 1 to the
forward direction of linear axis 2 is the forward rotation of the rotation axis.

(2) For components in two directions ... type 2

(The rotation axis rotates about an axis on the plane formed by any two of the
three basic axes.)
Z B
Example:
Axis number of the rotation axis = 4 (B-axis) C α Y
Axis number of linear axis 1 = 1 (X-axis)
Axis number of linear axis 2 = 2 (Y-axis) X
Axis number of linear axis 3 = 3 (Z-axis)
Angle ＝α
1) The linear axes 1, 2, and 3 are assumed to form a right-handed system in that
order.
2) The angle:
- Rotates on the plane formed by linear axes 3 and 1.
- Assumes that the rotation from the forward direction of linear axis 3 to the
forward direction of linear axis 1 is the forward rotation of the angle
- Assumed to be 0° when it matches the direction of linear axis 3.
3) When the angle is equal to 0°, the rotation axis:
- Rotates about the axis orthogonal to the plane formed by linear axes 1 and 2.
- Assumes that the rotation from the forward direction of linear axis 1 to the
forward direction of linear axis 2 is the forward rotation of the rotation axis.
4) If 0 is set for linear axis 3, type 1 is assumed.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 32/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Up to two sets of such parameter settings can be specified. Thus, it is possible to
compensate a slant rotary head controlled with two rotation axes. For the
calculation of the compensation amount, calculation is performed on the first rotation
axis, and using the results, calculation is performed on the second rotation axis.
For two rotation axes, if the rotation plane varies due to the rotation of another
rotation axis, set the rotation plane assumed when the position of the rotation axis is
0°. For a single rotation axis, set 0 for the second rotation axis.

- Reference angles of rotation axes and directions of compensation vectors [19620 to 19623]

These parameters set the reference angles of rotation axes and the directions of
compensation vectors.
(1) Reference angles (θ0, φ0) of rotation axes [19620 and 19621]
Set the position of a rotation axis when setting a compensation vector as
described in (2). Usually, set 0.
(2) Directions of compensation vectors [19622 and 19623]
As the direction of a compensation vector, set the rotation angle (RA, RB) in
relation to the direction of linear axis 3 (usually, Z direction).
RA: The rotation from the forward direction of linear axis 2 to the forward
direction of linear axis 3 in the plane formed by linear axes 2 and 3 is
assumed to be forward rotation.
RB: The rotation from the forward direction of linear axis 3 to the forward
direction of linear axis 1 in the plane formed by linear axes 3 and 1 is
assumed to be forward rotation.
Linear axes 1, 2, and 3 are those specified for the parameters described in the
previous section.
If linear axis 3 is not set (type 1), linear axis 3 is assumed to be the Z-axis.

(Example1) In case of -Z direction (Example2) In case of -X direction

RA=0 RA=0
RB=0 RB=90.0
Line axis 3 (Z)
Line axis 3 (Z)

Line axis 2 Line axis 2

(Y) (Y)

Line axis 1 Line axis 1

(X) (X)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 33/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Parameter specification example
When specifying the parameters related to a machine configuration, see the table
below.
For the machine shown in Fig. 1.1.1 (a), set the parameters to the settings listed in
the table.
Axis numbers is supposed to be as follows: X = 1, Y = 2, Z = 3, B = 4, and C = 5

Parameter Setting value Description

No. (IS-B)
19610 4 (B) Axis number of the tool rotation axis (first set)
19611 3 (Z) Axis number of linear axis 1 of the tool rotation axis (first set)
19612 1 (X) Axis number of linear axis 2 of the tool rotation axis (first set)
19613 2 (Y) Axis number of linear axis 3 of the tool rotation axis (first set)
19614 0 Angle of the tool rotation axis (first set)
19615 5 (C) Axis number of the tool rotation axis (second set)
19616 1 (X) Axis number of linear axis 1 of the tool rotation axis (second set)
19617 2 (Y) Axis number of linear axis 2 of the tool rotation axis (second set)
19618 3 (Z) Axis number of linear axis 3 of the tool rotation axis (second set)
19619 0 Angle of the tool rotation axis (second set)
19620 0 Reference angle of the tool rotation axis (first set)
19621 0 Reference angle of the tool rotation axis (second set)
19622 0 Reference angle of the tool axis on the plane of linear axes 2 and 3 (RA)
19623 90000 Reference angle of the tool axis on the plane of linear axes 3 and 1 (RB)
19720 0 Axis number of linear axis 1 (first axis of the workpiece coordinate system)
19721 0 Axis number of linear axis 2 (second axis of the workpiece coordinate system)
19722 0 Axis number of linear axis 3 (third axis of the workpiece coordinate system)
19723 0 Axis number of the table rotation axis (first set)
19724 0 Axis number of the linear axis corresponding to the table rotation axis (first set)
19725 0 Axis number of the table rotation axis (second set)
19726 0 Axis number of the linear axis corresponding to the table rotation axis (second set)
19730 0 Reference angle of the table rotation axis (first set)
19731 0 Reference angle of the table rotation axis (second set)

CAUTION
1 Set 0 for the table rotation axis.
2 The axis number of the tool rotation axis (first set) must not be the
same as the axis number of the tool rotation axis (second set).
The tool rotation axis (first set) and the tool rotation axis (second set)
must not rotate about the same axis.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 34/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.2 Tool radius compensation for rotary table type machine
General
For machines having a rotary table, such as that shown in the figure below, cutter
compensation can be performed.

The machine example shown in the figure below is a 5-axis machine having the table
rotation axis A about the X-axis (the orientation of the tool axis being on the Z-axis)
and the table rotation axis B about the Y-axis.
Three-dimensional cutter compensation can be performed on such a machine.

Y Z

Table coordinate
system A

B
X Y
shows the direction in which the machine moves.

This machine is the one used in the example.

The table coordinate system rotates with the rotation of Z
X
the table. Part programs are created in the workpiece
coordinate system.
Workpiece coordinate system

Fig.1.1.2 (a) Machine having a rotary table

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 35/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Format
- Startup (cutter compensation start)
G41.4 (or G42.4) IP_ D_ ;
G41.4 : Cutter compensation, left (group 07)
G42.4 : Cutter compensation, right (group 07)
IP_ : Value specified for moving an axis
D_ : Code specifying the cutter compensation amount (1 to 3 digits)

- Cutter compensation cancellation

G40 IP_ ;
G40 : Cutter compensation cancellation (group 07)
IP_ : Value specified for axis moving

- Selection of an offset plane

Offset plane Plane selection IP_
command
XpYp G17 ; Xp_Yp_
ZpXp G18 ; Xp_Zp_
YpZp G19 ; Yp_Zp_
The selected plane, or two axes, must be included in the three linear axes
(parameters No.. 19720 to 19722) handled by this function.
Select the plane vertical to the tool (XpYp plane in Fig.1.1.2 (a)).

Description
- Cutter compensation
The tool radius compensation for rotary table type machine basically performs
operations in conformance with cutter compensation. The operations different from
those of cutter compensation are described below. For a description of the
specifications and cautions not mentioned here, see the description of cutter
compensation.

- Startup
If the tool radius compensation for 5-axis machining (G41.4 or G42.4, a command
with a dimension word other than 0 and a D code other than D0 on the offset plane)
is issued in offset cancellation mode, the CNC enters offset mode.
Startup is specified with positioning (G00) or linear interpolation (G01).
If circular interpolation (G02, G03) or involute interpolation (G02.2, G03.2) is
specified, alarm P/S034 is issued.

- Offset mode
In offset mode, compensation is performed for positioning (G00) and linear
interpolation (G01).

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 36/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 NOTE
In G41.4 or G42.4 mode, circular interpolation (G02, G03) or involute
interpolation (G02.2, G03.2) cannot be specified.

- Offset mode cancellation

If a block satisfying either of the following conditions is executed in offset mode, the
CNC enters offset cancellation mode.
1 G40 is specified.
2. 0 is specified for the code for specifying the cutter compensation amount
(D code).
If offset cancellation is to be performed, circular interpolation (G2, G3) or involute
interpolation (G2.2, G3.2) must not be specified Otherwise, alarm PS034 is issued.

- Formulas
With the above settings, the cutter compensation vector at end point N2 in the
following program is calculated as follows:
(1) Part program
A part program is created in the workpiece coordinate system.
G42.4 D1
N1 X x1 Y y1 Z z1 A a1 B b1
N2 X x 2 Y y 2 Z z2 A a 2 B b2
N3 X x3 Y y 3 Z z3 A a 3 B b3

(2) Definitions
P1 = ( x1 , y1 , z1 ) , P2 = ( x 2 , y 2 , z2 ) , P3 = ( x3 , y 3 , z3 )
P0 : Origin of the table coordinate system (parameter No.19734)

(3) Calculation of the matrix for conversion from the workpiece coordinate system to
the table coordinate system
Reference angle conversion matrix
é1 0 0 ù écos b00 − sin b0 ù
M 0 = ê0 cos a0 sin a0 úú êê 0
ê 1 0 úú
êë0 − sin a0 cos a0 úû êë sin b0
0 cos b0 úû
where a0 and b0 are the reference angles specified for parameters

No.19730 and 19731.

P1 conversion matrix
é1 0 0 ù écos b1 0 − sin b1 ù
M 1 = ê0 cos a1 sin a1 úú êê 0
ê 1 0 úú
êë0 − sin a1 cos a1 úû êë sin b1 0 cos b1 úû
P2 conversion matrix
é1 0 0 ù écos b2 0 − sin b2 ù
M 2 = êê0 cos a 2 sin a2 úú êê 0 1 0 úú
êë0 − sin a2 cos a2 úû êë sin b2 0 cos b2 úû

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 37/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 P3 conversion matrix
é1 0 0 ù écos b3 0 − sin b3 ù
M 3 = êê0 cos a3 sin a3 úú êê 0 1 0 úú
êë0 − sin a3 cos a3 úû êë sin b3 0 cos b3 úû

(3) Calculation of three points P1 ' , P2 ' , P3 ' used to calculate cutter compensation
P1 , P2 , and P3 are converted to P1 ' , P2 ' , and P3 ' using the following

formulas:
−1 −1
P1 ' = M 2 M 1 M 0 ( P1 − P0 ) + P0
P2 ' = M 0 −1 ( P2 − P0 ) + P0
−1 −1
P3 ' = M 2 M 3 M 0 ( P3 − P0 ) + P0
The cutter compensation vector is calculated using these three points.

If the reference angle is 0

P2'=P2
P3
Y

P1'
P3'
Cutter
X
compensation
vector
Z
P1

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 38/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Parameter specification example
On the machine shown in Fig.1.1.2 (a) parameters must be specified as follows:
The axis numbers are assumed as follows: X = 1, Y = 2, Z = 3, A = 4, B = 5

Parameter Setting Description

No. (IS-B)
19720 1 (X) Axis number of linear axis 1
19721 2 (Y) Axis number of linear axis 2
19722 3 (Z) Axis number of linear axis 3
19723 - 5 (B) Axis number of rotation axis (first set)
19724 2 (Y) Axis number of the linear axis corresponding to the rotation
axis (first set)
19725 - 4 (A) Axis number of rotation axis (second set)
19726 1 (X) Axis number of the linear axis corresponding to the rotary
axis (second set)
19730 0 Reference angle for the rotation axis (first set)
19731 0 Reference angle for the rotation axis (second set)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 39/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.3 Tool Radius Compensation for Mixed-type machine
General
This function allows three-dimensional tool radius compensation to be performed on
a 5-axis machine having a rotary table and a rotation tool axis, such as that shown in
the figure below.
The machine example shown in the figure below is a 5-axis machine having the tool
axis A about the X-axis (the orientation of the tool axis being on the Z-axis) and the
table rotation axis C about the Z-axis.
Three-dimensional cutter compensation can be performed on such a machine.

C A
-
+ -
Y

X
Z
- X

Y
Workpiece coordinate system

Workpiece coordinate system: Coordinate system with

which a program is to be created

Fig. 1.1.3 (a) Machine having tool rotation axis and table rotation axis

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 40/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Format
- Startup (start of tool radius compensation mixed type machine)
G41.5 (or G42.5) IP_ D_ ;
G41.5 : Cutter compensation, left (group 07)
G42.5 : Cutter compensation, right (group 07)
IP_ : Specified amount of axial movement
D_ : Code specifying the amount of cutter compensation (1 to 3 digits)

- Cutter compensation cancellation

G40 IP_ ;
G40 : Cutter compensation cancellation (group 07)
IP_ : Specified amount of axial movement

NOTE
Only the tool side offset is effective to this function. This function is not
effective for leading edge offset.

Description
- Cutter compensation
Basically, the operations of the function of Tool radius compensation for 5-axis
machining conform to those of three-dimensional cutter compensation. The
following explanation mainly covers operations different from those of three-
dimensional cutter compensation.
Thus, for those specifications and notes that are not mentioned here, refer to the
explanation of three-dimensional cutter compensation.

- Startup
In offset cancel mode, issuing a command of three-dimensional tool radius
compensation for mixed-type machine (G41.5 or G42.5 with a D code other than D0)
causes the CNC to enter offset mode.
Startup may be specified with positioning (G00) or linear interpolation (G01).
If, during startup, an attempt is made to issue a G code other than G00 and G01,
such as circular interpolation (G02 or G03) or involute interpolation (G02.2 or G03.2),
an alarm(P/S034) will be issued.

- Offset mode
In offset mode, positioning (G00) and linear interpolation (G01) are subject to
compensation.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 41/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 NOTE
If, during startup, an attempt is made to issue a G code other than G00
and G01, such as circular interpolation (G02 or G03) or involute
interpolation (G02.2 or G03.2), an alarm will be issued.
If, in G41.5 or G42.5 mode, a G code other than G00 and G01, such as
circular interpolation (G02 or G03) or involute interpolation (G02.2 or
G03.2), is issued, compensation will not be performed properly.

- Offset mode cancellation

In offset mode, executing a block satisfying either or both of the following conditions
causes the CNC to enter offset cancel mode:
1 G40 is specified.
2. 0 is specified as the code for specifying the amount of cutter compensation
(D code).
The command used to perform offset cancellation must be G00 or G01, not any
other G code such as a circular interpolation command (G02 or G03) or involute
interpolation command (G02.2 or G03.2). Otherwise, an alarm(P/S034) will be
issued.

NOTE
1. This function cannot be used in the three-dimensional coordinate
conversion mode.
2. The cautions for the three-dimensional cutter compensation function also
apply to this function

- Formulas
The three-dimensional cutter compensation vector at the N2 end point in the
following program can be calculated as follows:

1. Part program
A part program may be created with a workpiece coordinate system.
G42.5 D1；
N1 X x1 Y y1 Z z1 A a1 C c1 ；
N2 X x 2 Y y 2 Z z2 A a2 C c 2 ；
N3 X x3 Y y 3 Z z3 A a3 C c3 ；

2. Definition of symbols
P = ( x1 , y1 , z1 )
Q = ( x 2 , y 2 , z2 )
R = ( x3 , y 3 , z3 )

P0: Origin of the table coordinate system (parameter No. 19734)

A: Tool rotation axis
C: Table rotation axis

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 42/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 3. Definition of coordinate system C1 (workpiece coordinate system)
Coordinate system C1 {O; X,Y,Z} is a Cartesian coordinate system having
O = (0,0,0) as its origin and the following unit vectors as its basic vectors:
I = (1,0,0) (X-axis unit vector)
J = (0,1,0) (Y-axis unit vector)
K = (0,0,1) (Z-axis unit vector)

4. Conversion of program coordinates using the table rotation axis

(1) Conversion from the workpiece coordinate system to the table coordinate
system using the table rotation axis
The table coordinate system is the one that is fixed to the table.
The table coordinate system will move with the rotation of the table coordinate
system.
Determining the vector at Q requires that P and R in the same state as that of Q
(state at the N2 end point) be determined.
The matrixes for conversion from the workpiece coordinate system to the table
coordinate system are as follows:
The conversion matrix for P is M1−1 = Rc (c1 )−1
The conversion matrix for Q is M 2 −1 = Rc (c2 )−1
The conversion matrix for R is M 3−1 = Rc (c3 )−1
é cos c sin c 0ù
where R ( c ) = ê − sin c cos c 0ú
c ê ú
êë 0 0 1úû

(2) Calculation of the three points P', Q', and R' used for the calculation of three-
dimensional cutter compensation
The conversion matrix for the reference angle is given as follows:
M 0 = Rc (c0 ) ( c0 : parameter No.19730)
Conversion from the table coordinate system to the workpiece coordinate system
in the state of the N2 end point is given by M 2 .

Let the values of the three points P, Q, and R in the state of the N2 end point be
P', Q', and R', then
P’ = M 2 M 1 −1 M 0 −1 (P−P0) + P0
Q’ = M 2 M 2 −1 M 0 −1 (Q−P0) + P0 = M 0 −1 (Q−P0) + P0
R’ = M 2 M 3 −1 M 0 −1 (R−P0) + P0

Using these three points P', Q', and R', three-dimensional cutter compensation
may be calculated.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 43/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 If the reference angle is 0

Q' = Q
R
Y

P'
R'
X

Z
P Workpiece
coordinate system

5. Calculation of three-dimensional cutter compensation

(1) Conversion matrix for the tool rotation axis
Conversion due to the rotation of the tool rotation axis about the tool axis having
an angle of α (parameter No.19614) is represented by the following formula:
é 1 − (sin 2 α )(1 − cos a ) (cos α )(sin α )(1 − cos a ) (sin α )(sin a ) ù
ê ú
ROTα (a ) = ê(cos α )(sin α )(1 − cos a ) 1 − (cos 2 α )(1 − cos a ) − (cos α )(sin a )ú
ê − (sin α )(sin a ) (cos α )(sin a ) cos a ú
ë û
The conversion matrix for the reference angle is given by the following:
N 0 = ROTα ( a0 ) ( a0 : parameter No.19620)

(2) Creation of the basic vector of coordinate system C2 for applying two-
dimensional cutter compensation
Let the tool direction vector in the state of the N2 end point be VT .
é(cos R A )(cos RB )ù
VT = ROTα (a2 ) N 0
−1 ê (cos R )(sin R ) ú
ê A B ú

êë − sin R A úû
e2 is defined as follows. Note that e2 ⊥VT .
é − sin RB ù
e2 = ROTα (a2 ) N 0
−1 ê cos R ú
ê B ú

êë 0 úû
where RA : reference angle of the tool axis (RA) (parameter No.19622) and
RB : reference angle of the tool axis (RB) (parameter No.19623)
The unit vector e3 satisfying e3⊥VT and e3⊥e2 may be given by the following

outer product calculation:

e3 = VT × e2

(3) Definition of coordinate system C2

Coordinate system C2 {O; e2 , e3 , e1 } is an Cartesian coordinate system having

O = (0,0,0) as its origin and the following unit vectors as its basic vectors:
e2
e3
e1 = VT

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 44/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 e3
Q’ R''

e1=VT
VD

P’ e3
e2
VD'
R’ P''
Z
Q''
e2
Y

X
Coordinate system C1 Coordinate system C2

(4) Coordinate system conversion matrix for conversion from coordinate system C1
to coordinate system C2
The coordinate system conversion matrix for conversion from coordinate system
C1 to coordinate system C2 is represented by the following formula:
ée 2 ù
N = êêe 3 úú
êë e1 úû
On the other hand, the coordinate system conversion matrix for conversion from
coordinate system C2 to coordinate system C1 is represented by the following
formula, using an inversion matrix:
[
N −1 = t e 2 t
e3 t
e1 ]
(5) Calculation of the coordinates P'', Q'', and R'' of P', Q', and R' in coordinate
system C2
P’’ = N P’
Q’’ = N Q’
R’’ = N R’

(6) Calculation of the intersection vector VD' on the compensation plane {O; e2 ,
e3 } in coordinate system C2
The intersection vector VD' may be calculated using two components of each of
P'', Q'', and R'', omitting the e1 component (component in the tool direction).
The e1 component of VD' is regarded always 0.

The calculation method conforms to that used in two-dimensional cutter

compensation.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 45/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 (7) Conversion of the intersection vector VD' from coordinate system C2 to
coordinate system C1
The vector VD' in coordinate system C2 may be converted to vector VD in
coordinate system C1.
VD = N −1 VD’
This vector, VD, is the three-dimensional cutter compensation vector in the
workpiece coordinate system in the state of the N2 end point.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 46/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 Parameter specification example
When specifying the parameters related to a machine configuration, see the table
below.
For the machine shown in Fig. 1.1.3 (a), set the parameters to the settings listed in
the table.
Axis numbers is supposed to be as follows: X = 1, Y = 2, Z = 3, A = 4, and C = 5

Parameter Setting value Description

No. (IS-B)
19610 4 (A) Axis number of the tool rotation axis (first set)
19611 2 (Y) Axis number of linear axis 1 of the tool rotation axis (first set)
19612 3 (Z) Axis number of linear axis 2 of the tool rotation axis (first set)
19613 1 (X) Axis number of linear axis 3 of the tool rotation axis (first set)
19614 0 Angle of the tool rotation axis (first set)
19615 0 Axis number of the tool rotation axis (second set)
19616 0 Axis number of linear axis 1 of the tool rotation axis (second set)
19617 0 Axis number of linear axis 2 of the tool rotation axis (second set)
19618 0 Axis number of linear axis 3 of the tool rotation axis (second set)
19619 0 Angle of the tool rotation axis (second set)
19620 0 Reference angle of the tool rotation axis (first set)
19621 0 Reference angle of the tool rotation axis (second set)
19622 -90000 Reference angle of the tool axis on the plane of linear axes 2 and 3 (RA)
19623 0 Reference angle of the tool axis on the plane of linear axes 3 and 1 (RB)
19720 1 (X) Axis number of linear axis 1 (first axis of the workpiece coordinate system)
19721 2 (Y) Axis number of linear axis 2 (second axis of the workpiece coordinate system)
19722 3 (Z) Axis number of linear axis 3 (third axis of the workpiece coordinate system)
19723 5 (C) Axis number of the table rotation axis (first set)
19724 3(Z) Axis number of the linear axis corresponding to the table rotation axis (first set)
19725 0 Axis number of the table rotation axis (second set)
19726 0 Axis number of the linear axis corresponding to the table rotation axis (second set)
19730 0 Reference angle of the table rotation axis (first set)
19731 0 Reference angle of the table rotation axis (second set)

NOTE
１．Set 0 for the table rotation axis of the second set and for the tool rotation
axis of the second set.
２．The three basic axes to make up the workpiece coordinate system of
parameters No. 19720 to 19722 must be used to make up that of
parameters No.19611 to 19613.
３．The axis number of the table rotation axis (first set) must not be the same
as the axis number of the tool rotation axis (first set).
The table rotation axis (first set) and the tool rotation axis (first set) must not
rotate about the same axis.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 47/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.4 Restrictions

1.1.4.1 Common restrictions

- Interference check
In the Tool radius compensation for 5-axis machining mode, an interference check is
performed using a specified position in the workpiece coordinate system and a
compensation vector. The interference check avoidance function cannot be used.

- Corner arc (G39)

In the Tool radius compensation for 5-axis machining mode, G39 cannot be
specified. Specifying G39 causes alarm P/S5461 to be issued.

- Reset
When Tool Radius Compensation for 5-axis machining mode (G41.2,G42.2,G41.4,
G42.4,G41.5,G42.5) is reseted , the mode is always canceled (G40).

- Restriction of commands
The following functions can be used but the state can not be changed in the tool
radius compensation for 5-axis machining 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 the tool radius compensation for 5-axis
machining mode.
- Custom macro B
- Macro executor (Execution macro)
- 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
- Advanced preview control -G08 (Please use AI High
Precision Contour Control)

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 48/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - 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,C -G40, G41, G42, G39
- 3-dimensional tool compensation -G41
- Wheel wear compensation -G41
- Tool Center Point control -G43.4,G43.5
- Tool Center Point control for 5-axis machining -G43.4
- 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 dimensional coordinate conversion -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
- Inverse time feed -G93
- Feed per revolution -G95
- Constant surface speed control -G96, G97
- Infeed control -G160, G161
- M,S,T and B functions with motion command

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 49/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 - 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.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 50/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.4.2 Restrictions of tool rotation type

- Unusable functions(leading edge compensation)

Do not use the following functions in the tool radius compensation for 5-axis
machining mode
- G code functions of group 01 other than G00

1.1.4.3 Restrictions of includes table rotation axis machine (table rotation type,
mixed-type)

- Unusable functions
Do not use the following functions in the tool radius compensation for 5-axis
machining mode
- G code functions of group 01 other than G00

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 51/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.5 Parameters

1.1.5.1 About the machine configuration

- First set and Second set

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. At this time, the rotation axis
of the former is called the second set (master axis), and the front rotation axis is
called first set (slave axis).

1.1.5.2 Parameters related to tool rotation axes

19610 Linear axis 1 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (first set)

19611 Linear axis 1 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (first set)

19612 Linear axis 2 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (first set)

19613 Linear axis 3 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (first set)

[Data type] Byte

[Valid data range] 0 to number of controlled axes
Set the rotation axis and the linear axes used to execute three-dimensional cutter
compensation and tool radius compensation for 5-axis machining (first set).

19614 Angle of rotation axis used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (first set)

[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
Set the angle of the rotation axis used to execute three-dimensional cutter
compensation and tool radius compensation for 5-axis machining (first set).

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 52/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 19615 Rotation axis used to execute three-dimensional cutter compensation
and tool radius compensation for 5-axis machining (second set)

19616 Linear axis 1 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (second set)

19617 Linear axis 2 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (second set)

19618 Linear axis 3 used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (second set)

[Data type] Byte

[Valid data range] 0 to number of controlled axes
Set the rotation axis and the linear axes used to execute three-dimensional cutter
compensation and tool radius compensation for 5-axis machining (second set).

19619 Angle of rotation axis used to execute three-dimensional cutter compensation

and tool radius compensation for 5-axis machining (second set)

[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
Set the angle of the rotation axis used to execute three-dimensional cutter
compensation and tool radius compensation for 5-axis machining (second set).

Parameters No.. 19610 to 19619

First set Second set
Rotation axis 19610 19615
Linear axis 1 19611 19616
Linear axis 2 19612 19617
Linear axis 3 19613 19618
Angle 19614 19619
- Set the relationship between the rotation axis and the rotation plane.
- The relationship may be set for each of two sets. This enables setup of a
machine controlled with two rotation axes.
- The tool direction of the rotation axis of the first set is calculated first. Then,
using the result of the calculation, the tool direction of the rotation axis of the
second is calculated.
- If two rotation axes are used and the rotation of the other rotation axis causes
the rotation plane to vary, set the rotation plane assumed when the position of
the rotation axis is at 0 degrees.
- If only one rotation axis is used, set 0 for the rotation axis of the second set.
- Generally, the direction vector of a rotation axis has components in three
directions. This function supports vectors with components in a single direction
and those with components in two directions. See the following for details:

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 53/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 A) If the components of the direction vector of a rotation axis are in a single
direction (type A)
This is a case in which the rotation axis rotates about any one of the three
basic axes.
1) Set the axis numbers for the rotation axis, linear axis 1, and linear axis 2.
2) Set 0 for both linear axis 3 and the angle.
3) The rotation axis must satisfy the following:
- The rotation axis rotates about an axis orthogonal to the plane of linear
axes 1 and 2.
- The rotation of the rotation axis in the plus direction is its rotation from
the plus direction of linear axis 1 to the plus direction of linear axis 2.
Z

C Y

B) If the components of the direction vector of the rotation axis are in two
directions (type B)
This is a case in which the rotation axis rotates about an axis on the plane
formed by any two of the basic three axes.
1) Set the axis number for the rotation axis and linear axes 1, 2, and 3.
2) Linear axes 1, 2, and 3 are supposed to form a right-handed system in
that order.
3) The angle must satisfy the following:
- Rotation is on the plane of linear axes 3 and 1.
- The rotation of the angle in the plus direction is its rotation from the
plus direction of linear axis 3 to the plus direction of linear axis 1.
- The angle assumed at the time of a match with the direction of linear
axis 3 is 0 degrees.
4) The rotation axis must satisfy the following when the angle is 0 degrees:
- The rotation axis rotates about an axis orthogonal to the plane of
linear axes 1 and 2.
- The rotation of the rotation axis in the plus direction is its rotation from
the plus direction of linear axis 1 to the plus direction of linear axis 2.
Z

B
Y
α

α: Angle

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 54/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 19620 Reference angle of rotation axis used to execute three-dimensional cutter
compensation (first set)

19621 Reference angle of rotation axis used to execute three-dimensional cutter

compensation (second set)

[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
Set the reference angles of the rotation axes used to execute three-dimensional tool
compensation and tool radius compensation for 5-axis machining.
Set the angles of the rotation axes assumed when the tool direction (parameters
No.19622 to 19623).
Usually, set a value of 0.0.

19622 Reference angle of tool axis of plane of liner axes 2 and 3 (RA)

19623 Reference angle of tool axis of plane of liner axes 3 and 1 (RB)

[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
Set the two angles RA and RB to specify the direction of the three-dimensional cutter
compensation and tool axis used to execute the tool radius compensation for 5-axis
machining.

Parameters No.19622 and 19623

As the directions of compensation vectors, using the direction of linear axis 3
(parameter No.19613) as a reference, set the rotation angles (RA and RB) from that
reference.
RA : Rotation in the plus direction is rotation from the plus direction of linear axis 2
to the plus direction of linear axis 3, assuming that the rotation is on the plane of
linear axes 2 and 3.
RB : Rotation in the plus direction is rotation from the plus direction of linear axis 3
to the plus direction of linear axis 1, assuming that the rotation is on the plane of
linear axes 3 and 1.
Linear axes 1, 2, and 3 are those axes that have been specified with parameters
No.19611 to 19613.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 55/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 If the tool axis is in the direction of linear axis 3
Linear axis 3
RA = 0.0
Linear axis 2
RB = 0.0

Linear axis 1

If the tool axis is in the direction of linear axis 1

Linear axis 3

RA = 0.0
Linear axis 2
RB = 90.0

Linear axis 1

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 56/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 19632 Distance from the program-specified point (pivot point) to the tool tip position
(cutting point)

[Data type] 2 Word

[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 the distance from the program-specified point to the actual cutting point to
calculate a three-dimensional cutter compensation vector at the tool tip position.

If this parameter is 0, the tool tip support of the three-dimensional cutter

compensation function is not effective.
Change the setting of this parameter before turning the three-dimensional cutter
compensation mode to on.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 57/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.5.3 Parameters related to tool rotation axes

19720 Axis number of linear axis 1 in the tool radius compensation for 5-axis machining

19721 Axis number of linear axis 2 in the tool radius compensation for 5-axis machining

19722 Axis number of linear axis 3 in the tool radius compensation for 5-axis machining

[Data type] Byte

[Valid data range] 1 to the number of controlled axes
Set the axis numbers of the three linear axes used for the tool radius compensation
for 5-axis machining.
(The linear axes correspond to the coordinate axes in the workpiece coordinate
system.)

19723 Axis number of the rotation axis

in the tool radius compensation for 5-axis machining (first set)

19724 Axis number of the linear axis corresponding to the rotation axis
in the tool radius compensation for 5-axis machining (first set)

19725 Axis number of the rotation axis

in the tool radius compensation for 5-axis machining (second set)

19726 Axis number of the linear axis corresponding to the rotation axis
in the tool radius compensation for 5-axis machining (second set)

[Data type] Byte

[Invalid data range] From 1 to the number of controlled axes (Parameter No.19723 and No.19725 might
be negative number of controlled axis)
Set the axis numbers of the rotation axes used for the tool radius compensation for
5-axis machining, as well as the axis numbers of the linear axes corresponding to
the rotation axes. Up to two sets can be set. The orientation of the rotation axis in
the first set depends on the angle of the rotation axis in the second set. If there is
only one rotation axis, set 0 for parameter No.19725.
The axis numbers of the linear axes corresponding to the rotation axes indicate the
linear axes about which the rotation axes rotate. See the table below.

Linear axis about which Value set for parameter Rotation direction of the rotation axis Direction with an angular
a rotation axis rotates No.19724 or 19726 displacement of 0
Linear axis 1 Axis number of Foward direction of linear axis 2 to Forward direction of
linear axis 1 forward direction of linear axis 3 linear axis 2
Linear axis 2 Axis number of Foward direction of linear axis 3 to Forward direction of
linear axis 2 forward direction of linear axis 1 linear axis 3
Linear axis 3 Axis number of Foward direction of linear axis 1 to Forward direction of
linear axis 3 forward direction of linear axis 2 linear axis 1

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 58/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 If the rotation direction of the rotation axis is the reverse of what is described in the
table above, set a negative value for parameter No.19723 or 19725.
If the direction with an agular displacement of 0 differs from what is described in the
table above, specify parameters No.19730 and 19731, assuming that the angle of
the rotation axis in relation to the direction described in the table above as the
reference angle.

19730 Reference angle of the rotation axis

in the tool radius compensation for 5-axis machining (first set)

19731 Reference angle of the rotation axis

in the tool radius compensation for 5-axis machining (second set)

[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
Set the angles of reference positions on the rotation axes used for the tool radius
compensation for 5-axis machining.

19734 Workpiece coordinates of the origin of the table coordinate system

in the tool radius compensation for 5-axis machining

[Data type] 2 Word axis

[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 the workpiece coordinates of the origin of the table coordinate system used for
the tool radius compensation for 5-axis machining. Specify the parameter for the
three axes specified for parameters No.19720 to 19722. The intersection of two
rotation axes is assumed to be the origin of the table coordinate system.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 59/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 1.1.6 Alarm and message

No. Message Description

P/S33 CRC:NO INTERSECTION There is not point of intersection of the compensated tool
center path during cutter compensation.
P/S37 CRC:PLANE CHANGE An attempt was made to change the plane in the cutter
compensation mode.
To change the plane, cancel the cutter compensation
mode.
P/S41 CRC:INTERFERENCE The depth of the cut is too great during cutter
compensation. Check the program.
The criteria for judging interference are as follows:
(1) The direction of movement of the programmed block
differs from the direction of movement of the
corresponding tool center path block by 90° or more or
270° or less.
The check in this case can be disabled by setting CNC
parameter No. 6001#1 to "1".
(2) In the case of an arc, the difference in angle between
the start and end points of the programmed block differs
by 180° or more with the difference in angle between the
start and end points of the corresponding tool center
path block.
P/S5196 ILLEGAL AXIS OPERATION A function which cannot be used during HPCC function or
5-axis control function is being executed was commanded.
P/S5405 ILLEGAL PARAMETER IN The parameter settings (parameter Nos. 19610 to 19619)
G41.2/G42.2 for determining the relationship between the axis of rotation
and the rotation plane are incorrect.
P/S5406 G41.3/G40 FORMAT ERROR (1) A move instruction was specified in a block in which the
G41.3 or G40 code is specified.
(2) A G or M code which suppresses buffering was
specified in the block in which the G41.3 code was
specified.
P/S5407 ILLEGAL COMMAND IN G41.3 (1) A G code other than G00 or G01 in group 01 was
specified in the G41.3 mode.
(2) An offset (G code in group 07) was specified in the
G41.3 mode.
(3) The block following the block in which G41.3 (startup)
was specified did not contain a move command.
P/S5408 G41.3 ILLEGAL START_UP (1) The G41.3 G code (startup) was specified in a group 01
mode for other than G00 and G01.
(2) The angle formed by the tool direction vector and the
movement direction vector was 0° or 180° degrees at
startup.
P/S5409 ILLEGAL PARAMETER IN G41.3 The parameter settings (parameter Nos. 19610 to 19619)
for determining the relationship between the axis of rotation
and the rotation plane are incorrect.

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 60/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai
 No. Message Description
P/S5460 ILLEGAL USE OF G41.4/G42.4
(1) Any of the parameters No.19720 to 19726, related to
the tool radius compensation for 5-axis machining, is
not correct.
(2) At the start of the rotary table support of cutter
compensation (G41.4/G42.4), axes other than those
specified for parameters No.19720 to 19722 were
selected as a plane.
(3) In the mode of the tool radius compensation for 5-axis
machining (G41.4/G42.4), a move command other
than G00/G01 (such as G02) was issued.
P/S5461 ILLEGAL USE OF G41.5/G42.5
(1) The parameters (No.19720 to No.19726) related to
tool radius compensation for 5-axis machining are not
specified properly.
(2) An attempt was made to issue the G39 command in
the mode of three-dimensional tool radius
compensation for 5-axis machining(G41.5/G42.5).
(3) An attempt was made to issue a move command
other than G00 and G01, such as G02, at the startup
of three-dimensional tool radius compensation for 5-
axis machining(G41.5/G42.5).

FANUC Series 16i –MB, 18i –MB5

Title Tool Radius Compensation For 5-Axis
Mchining
Draw
No.
A-78710E
02 Mar.22.2002 All revision
Edit Date Design Description Sheet 61/61
Date Dec.01.2001 Desig. T.Mochida Apprv. H.Kouzai