Manual Feed For 5-Axis Machining Specifications: FANUC Series 16i - MB/TB, 18i - MB5

FANUC Series 16i - MB/TB, 18i - MB5
Manual feed for 5-axis machining
Specifications
Contents
1 OVERVIEW .....................................................................................................................2
2 SPECIFICATION............................................................................................................3
2.1 TOOL AXIS DIRECTION HANDLE/JOG FEED ............................................................................................. 3

2.2 TOOL AXIS RIGHT-ANGLE DIRECTION HANDLE/JOG FEED ...................................................................... 5
2.3 TOOL TIP CENTER ROTATION HANDLE/JOG FEED ................................................................................... 7
2.4 TABLE VERTICAL DIRECTION HANDLE/JOG FEED ................................................................................... 9
2.5 TABLE HORIZONTAL DIRECTION HANDLE/JOG FEED ............................................................................ 11
2.6 DISPLAYING THE COORDINATE VALUE OF THE TOOL TIP, PULSE VALUES, AND AMOUNT OF MACHINE
AXES MOVEMENT .............................................................................................................................................. 13
3 SIGNAL .........................................................................................................................16
4 PARAMETER ................................................................................................................18
5 ALARM AND MESSAGE..............................................................................................31
6 CAUTION ......................................................................................................................32
FANUC Series 16i-MB/TB,18i-MB5

Title Manual feed for 5-axis machining
Specifications
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No.
04 2002.04.22 All revision
Edit Date Design Description Sheet 1/32
Date 2002.01.18 Desig. M.Kobayashi Apprv. H.Kouzai
1 Overview
By this function, the following functions can be used.
• Manual feed for 5-axis machining

Tool axis direction handle/JOG feed
Tool axis right-angle direction handle/JOG feed
Tool tip center rotation handle/JOG feed
Table vertical direction handle/JOG feed
Table horizontal direction handle/JOG feed
• Screen display functions

Display of the coordinate of the tool tip
Display of pulse values
Display of amount of machine axes movement

Specifications
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2 Specification
2.1 Tool axis direction handle/JOG feed

Overview
In the tool axis direction handle/JOG feed, the tool is moved in the tool axis direction.
Tool axis direction
The tool axis direction is a direction which is specified in parameter No.19697 when the rotary
axes for controlling the tool are at 0 degrees. When the rotary axes for controlling the tool rotate,
the tool axis direction is changed corresponding to the angle of the rotary axis.
B
C
Tool axis direction
Z
Workpiece C
B
Y
Tool axis direction handle feed

The tool axis direction handle feed is enabled when the following four conditions are satisfied:
(1) Handle mode is selected.
(2) The tool axis direction feed mode signal (ALNGH) is set to "1". And the table base signal
(TB_BASE) is set to "0".
(3) The state of the first manual handle feed axis selection signals (HS1A-HS1D) to make the
tool axis direction handle feed mode effective is set in parameter No.12310.
(4) The value of parameter No.12310 is corresponding to the first manual handle feed axis
selection signals (HS1A-HS1D).
Amount of movement
The tool is moved in the tool axis direction by the rotation of the manual pulse generator.
Feedrate clamp
Feedrate is clamped so that the feedrate of each axis dose not exceed the manual rapid traverse
rate for each axis (parameter No.1424).

Specifications
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Tool axis direction JOG feed
The tool axis direction JOG feed is enabled when the following three conditions are satisfied:
(1) JOG mode is selected.
(2) The tool axis direction feed mode signal (ALNGH) is set to "1". And the table base signal
(TB_BASE) is set to "0".
(3) A feed axis and direction selection signal (+J1-+J8, -J1--J8) is set to "1" for the axis
corresponding to the tool axis direction when all of the rotary axes for controlling the tool
are at 0 degrees.
Ex.) No.19697=3 (+Z direction), Z-axis is the 3rd axis.

• +J3: Tool axis direction +
(+Z-axis direction when all of the rotary axes are at 0 degrees.)
• -J3: Tool axis direction -
(-Z-axis direction when all of the rotary axes are at 0 degrees.)
Feedrate
Feedrate is the dry run rate (parameter No.1410). And JOG override is available.
Feedrate clamp

Specifications
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2.2 Tool axis right-angle direction handle/JOG feed
Overview
In the tool axis right-angle direction handle/JOG feed, the tool is moved in the tool axis right-
angle direction.
Tool axis right-angle direction
There are two tool axis right-angle directions, which are perpendicular to the tool axis direction
(refer to the previous section). When all of the rotary axes for controlling the tool are at 0
degrees, if the tool axis direction is Z-axis direction, the tool axis right-angle direction 1
corresponds to X-axis direction and the tool axis right-angle direction 2 corresponds to Y-axis
direction. When the rotary axis rotates, the tool axis right-angle directions are changed
corresponding to an angle of the rotary axis.
B
Tool axis right-angle C
directions
Workpiece
Z
Tool axis direction C
B
Y
(Ex.) B-axis and C-axis for tool rotation, Tool axis direction is Z axis direction
Tool axis direction

B
Tool axis right-angle direction 2
C
Y Z
C B
X B Y
C
Tool axis right-angle direction 1 X

Specifications
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Tool axis right-angle direction handle feed
The tool axis right-angle direction handle feed is enabled when the following four conditions
are satisfied:
(2) The tool axis right-angle direction feed mode signal (RGHTH) is set to "1". And the table
base signal TB_BASE is set to "0".
tool axis right-angle direction handle feed mode effective is set in parameter No.12311 or
12312.
(4) The value of parameter No.12311 or 12312 is corresponding to the first manual handle feed
axis selection signals (HS1A-HS1D).
Amount of movement
The tool is moved in the tool axis right-angle direction by the rotation of the manual pulse
generator.
Feedrate clamp
Tool axis right-angle direction JOG feed

The tool axis right-angle direction JOG feed is enabled when the following three conditions are
satisfied:
(2) The tool axis right-angle direction feed mode signal (ALNGH) is set to "1". And the table
base signal (TB_BASE) is set to "0".
corresponding to the tool axis right-angle direction when all of the rotary axes for
controlling the tool are at 0 degrees.
Ex.) No.19697=3 (+Z direction)

X, Y and Z-axes are 1st, 2nd and 3rd axis respectively.
• +J1: Tool axis right-angle direction 1 +
(+X-axis direction when all of the rotary axes are at 0 degrees.)
• -J1: Tool axis right-angle direction 1 -
(-X-axis direction when all of the rotary axes are at 0 degrees.)
• +J2: Tool axis right-angle direction 2 +
(+Y-axis direction when all of the rotary axes are at 0 degrees.)
• -J2: Tool axis right-angle direction 2 -
(-Y-axis direction when all of the rotary axes are at 0 degrees.)
Feedrate
Feedrate clamp

Specifications
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2.3 Tool tip center rotation handle/JOG feed
Overview
In the tool tip center rotation handle/JOG feed, when a rotary axis is rotated by manual feed, the
linear axes (X, Y and Z axes) are moved so that the rotary axis movement does not change the
relative relation between the tool tip position and the workpiece (table).
• In case that the rotary axis controls the tool direction, the position of the tool tip is not moved.
Tool tip position

Workpiece
• In case that the rotary axis tilts the table, positional relation between the tool tip and the table
is not changed.
Workpiece
Table
Z
B B
B Y

Specifications
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No.
Tool tip center rotation handle feed
The tool tip center rotation handle feed is enabled when the following four conditions are
satisfied:
(2) The tool tip center rotation feed mode signal (RNDH) is set to "1".
tool tip center rotation handle feed mode effective is set in parameter No.12313 or 12314.
Amount of movement
When the rotary axis is rotated by the rotation of the manual pulse generator, the linear axes are
moved so that the rotary axis movement does not change the relative relation between the tool
tip position and the workpiece (table).
Feedrate clamp
Tool tip center rotation JOG feed

The tool tip center rotation JOG feed is enabled when the following three conditions are
satisfied:
(2) The tool tip center rotation JOG feed mode signal (RNDH) is set to "1".
(3) A feed axis and direction selection signal (+J1-+J8, -J1--J8) is set to "1" for a rotary axis.
Ex.) In case of rotating B-axis (4th axis)

• +J4: Tool tip center rotation +
• -J4: Tool tip center rotation -
Feedrate
Feedrate is controlled so that the synthetic feedrate (tangential speed) of linear axes becomes
the dry run rate (parameter No.1410). And JOG override is available.
Feedrate clamp
Feedrate is clamped so that the synthetic feedrate (tangential speed) of linear axes dose not
exceed the any manual rapid traverse rates (parameter No.1424) of all moving linear axes and
the feedrate of the rotary axis dose not exceed the manual rapid traverse rate (parameter
No.1424) of the rotary axis.

Specifications
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2.4 Table vertical direction handle/JOG feed
Overview
In the table vertical direction handle/JOG feed, the tool is moved in the table vertical direction.
Table vertical direction
The table vertical direction is a vertical direction to the table. It is equal to the tool axis direction
specified in parameter No.19697 when all of the rotary axes for controlling the table are at 0
degrees. When the rotary axis for controlling the table rotates, the table vertical direction is
changed corresponding to the angle of the rotary axis.
Table vertical direction
Z
Table Y
B
B
X
Table vertical direction handle feed

The table vertical direction handle feed is enabled when the following four conditions are
satisfied:
(2) Both the tool axis direction feed mode signal (ALNGH) and the table base signal
(TB_BASE) are set to "1".
table vertical handle feed mode effective is set in parameter No.12310.
(4) The value of parameter No.12310 is corresponding to the first manual handle feed axis
selection signals (HS1A-HS1D).
Amount of movement
The tool is moved in the table vertical direction by the rotation of the manual pulse generator.
Feedrate clamp

Specifications
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No.
Table vertical direction JOG feed
The table vertical direction JOG feed is enabled when the following three conditions are
satisfied:
(2) Both the tool axis direction feed mode signal (ALNGH) and the table base signal
corresponding to the table vertical direction (= the tool axis direction) when all of the rotary
axes for controlling the table are at 0 degrees.
Ex.) No.19697=3 (+Z direction), Z-axis is the 3rd axis.
• +J3: +Table vertical direction
(+Z-axis direction when all of the rotary axes are at 0 degrees.)
• -J3: -Table vertical direction
(-Z-axis direction when all of the rotary axes are at 0 degrees.)
Feedrate
Feedrate clamp

Specifications
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2.5 Table horizontal direction handle/JOG feed
Overview
In the table horizontal direction handle/JOG feed, the tool is moved in table horizontal
direction.
Table horizontal direction
The table horizontal directions are perpendicular to the table vertical direction (refer to the
previous section). When all of the rotary axes for controlling the table are at 0 degrees, if the
table vertical direction is Z-axis direction, the table horizontal direction 1 corresponds to X-axis
direction and the table horiaontal direction 2 corresponds to Y-axis direction. When the rotary
axis rotates, the table horizontal directions are changed corresponding to an angle of the rotary
axis.
Table horizontal direction 2

Z
Y
B
B
X
(Ex.) B-axis for table tilt, Table vertical direction is Z-axis direction
Z
B Table vertical direction
Y
B X
Z
Y
Table horizontal B
direction 1
X

Specifications
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No.
Table horizontal direction handle feed
The table horizontal direction handle feed is enabled when the following four conditions are
satisfied:
(2) Both the tool axis right-angle direction feed mode signal (RGHTH) and the table base signal
(TB_BASE) are set to 1.
(3) The state of the first manual handle feed axis selection signals (HS1A-HS1D) to make table
horizontal direction handle feed mode effective is set in parameter No.12311 or 12312.
Amount of movement
The tool is moved in the table horizontal direction by the rotation of the manual pulse generator.
Feedrate clamp
Table horizontal direction JOG feed

The table horizontal direction JOG feed is enabled when the following three conditions are
satisfied:
(2) Both the tool axis right-angle direction feed mode signal (RGHTH) and the table base signal
corresponding to the table horizontal direction when all of the rotary axes for controlling the
table are at 0 degrees.
Ex.) No.19697=3 (+Z direction)

• +J1: Table horizontal direction 1 +
(+X-axis direction when all of the rotary axes are at 0 degrees.)
• -J1: Table horizontal direction 1 -
(-X-axis direction when all of the rotary axes are at 0 degrees.)
• +J2: Table horizontal direction 2 +
(+Y-axis direction when all of the rotary axes are at 0 degrees.)
• -J2: Table horizontal direction 2 -
(-Y-axis direction when all of the rotary axes are at 0 degrees.)
Feedrate
Feedrate clamp

Specifications
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2.6 Displaying the coordinate value of the tool tip, pulse values, and
amount of machine axes movement
Overview
The coordinate value of the tool tip, the amount of movement in the tool axis direction and tool
axis right-angle direction and the amount of machine axes movement are displayed.
5-AXIS MANUAL FEED SCREEN

Procedure
5-axis manual feed screen can be selected by the following procedure.
The position screen is selected.
The right edge soft key is pushed.
Soft key “5AXMAN" is pushed.
Display data
TIP POSITION
The axis addresses of the machine axes used for manual feed for 5-axis machining and the
current position of the tool tip are displayed.
Pulse values
TOOL AXIS
The amount of movement in the tool axis direction feed and the tool axis right-angle direction
feed are indicated.

Specifications
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No.
TD
The amount of movement in the tool axis direction handle/JOG feed is indicated in units of the
least input increment of the axis of the tool axis direction (parameter No.19697).
R1
The amount of movement of the 1st axis of the tool right-angle direction handle/JOG feed is
indicated in units of the least input increment of the axis of the 1st axis direction (please refer to
the explanation of the parameter No.12311 for the 1st axis direction).
R2
The amount of movement of the 2nd axis of the tool right-angle direction handle/JOG feed is
indicated in units of the least input increment of the axis of the 2nd axis direction (please refer
to the explanation of the parameter No.12311 for the 2nd axis direction).
TIP CENTER
The amount of movement in the rotational handle/JOG feed around the center of the tool tip is
indicated.
C1
The amount of movement in the rotational handle/JOG feed around the center of the tool tip for
the first rotary axis is indicated in units of the least input increment of the first rotary axis.
C2
The amount of pulse in the rotational handle/JOG feed around the center of the tool tip for the
second rotary axis is indicated in units of the least input increment of the second rotary axis.
TABLE
The amount of movement in the table vertical direction and the table horizontal direction
handle/JOG feed are indicated.
VR
The amount of movement in the table vertical direction handle/JOG feed is indicated in units of
the least input increment of the axis of the tool axis direction (parameter No.19697).
H1
The amount of movement in the table horizontal direction handle/JOG feed is indicated in units
of the least input increment of the axis of the first axis direction (please refer to the explanation
of parameter No.12311 for the 1st axis direction).
H2
The amount of movement in the table horizontal direction handle/JOG feed is indicated in units
of the least input increment of the axis of the second axis direction (please refer to the
explanation of parameter No.12311 for the 2nd axis direction).
MACHINE AXIS
The addresses of the machine axes used for manual feed for 5-axis machining and the amount of
movement for each axis by manual feed for 5-axis machining are indicated.

Specifications
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Operation
The displayed pulse values can be cleared using the following soft keys.
1. Push the soft key (OPRT).
2. Select the soft key of the function for which displayed values are to be cleared. When the
right edge soft key is pushed, the second page is displayed.
3. To clear the displayed values of the specified function, push the [CLEAR] soft key. To
cancel the operation, push the [CAN] soft key.

Specifications
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3 Signal
Tool axis direction feed mode signal ALNGH<G023#7>

[Classification] Input signal
[Function] Selects the tool axis direction handle/JOG feed mode or the table vertical direction handle/JOG
feed mode.
[Operation] If this signal is set to "1" and TB_BASE is set to "0":
In case of Handle mode, the tool axis direction handle feed mode is selected.
In case of JOG mode, the tool axis direction JOG feed mode is selected.
If this signal is set to "1" and TB_BASE is set to "1":

In case of Handle mode, the table vertical direction handle feed mode is selected.
In case of JOG mode, the table vertical direction JOG feed mode is selected.
Tool axis right-angle direction feed mode signal RGHTH<G023#6>

[Function] Selects the tool axis right-angle direction handle/JOG feed mode or the table horizontal
direction handle/JOG feed mode.
[Operation] If this signal is set to "1" and TB_BASE is set to "0":
In case of Handle mode, the tool axis right-angle direction handle feed mode is selected.
In case of JOG mode, the tool axis right-angle direction JOG feed mode is selected.
If this signal is set to "1" and TB_BASE is set to "1":

In case of Handle mode, the table horizontal direction handle feed mode is selected.
In case of JOG mode, the table horizontal direction JOG feed mode is selected.
Tool tip center rotation feed mode signal RNDH<G298#2>

[Function] Selects the tool tip center rotation handle/JOG feed mode.
[Operation] If this signal is set to "1":
In case of Handle mode, the tool tip center rotation handle feed mode is selected.
In case of JOG mode, the tool tip center rotation JOG feed mode is selected.
Caution
The tool axis direction feed mode signal (ALNGH), the tool axis right-angle direction feed mode
signal (RGHTH) and the tool tip center rotation feed mode signal (RNDH) can be set to "1" at
the same time. In this case, effective mode is selected by the first manual handle feed axis
selection signals (HS1A-HS1D) in case of handle mode or the feed axis and direction selection
signal (+J1-+J8, -J1--J8) in case of JOG mode. In case of handle mode, however, the same value
must not be set in parameters No.12310-12314 (the state of the first manual handle feed axis
selection signals (HS1A-HS1D) to make the each feed mode effective). If the same value is set,
no feed mode is selected. In case that feed mode signals are not set to "1" at the same time, the
same value can be set in parameters No.12310-12314.

Specifications
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Table base signal TB_BASE<G298#0>
[Function] Selects the table vertical direction handle/JOG feed mode or the table horizontal direction
handle/JOG feed mode.
[Operation] If this signal is set to 0:
The tool axis direction handle/JOG feed and the tool axis right-angle direction handle/JOG
feed mode can be selected.
If this signal is set to 1:

The table vertical direction handle/JOG feed and the table horizontal direction handle/JOG
feed mode can be selected.
Note
This signal is not effective for the tool tip center rotation handle/JOG feed mode.

Specifications
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4 Parameter
12310 Value of the manual handle feed axis selection signals for the first manual handle
pulse generator for tool axis direction or table vertical direction handle feed
[Data type] byte

[Data range] 1 to 8
Set the status of the manual handle feed axis selection signals (HS1A to HS1D)
for the first manual handle pulse generator for tool axis direction or table vertical
direction handle feed.
The following table shows the correspondence between the parameter value
and the status of the manual handle feed axis selection signals for the first
manual handle pulse generator.
Status of the manual handle feed axis

selection signals for the first manual handle Parameter
pulse generator value
HS1D HS1C HS1B HS1A
0 0 0 1 1
0 0 1 0 2
0 0 1 1 3
0 1 0 0 4
0 1 0 1 5
0 1 1 0 6
0 1 1 1 7
1 0 0 0 8

Specifications
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pulse generator for the first axis direction in tool axis right-angle direction or in
table horizontal direction handle feed
[Data type] byte

[Data range] 1 to 8
for the first manual handle pulse generator for the 1st axis direction of tool axis
right-angle direction or table horizontal direction handle feed (Refer to the table
of parameter No.12310).
The relation between tool axis direction and first axis direction, second axis
direction is as follows.
Tool axis First axis Second axis

direction direction direction
Z X Y
X Y Z
Y Z X
pulse generator for the second axis direction in tool axis right-angle direction or in
table horizontal direction handle feed
[Data type] byte

[Data range] 1 to 8
for the first manual handle pulse generator for the 2nd axis direction of tool axis
right-angle direction or table horizontal direction handle feed (Refer to the table
of parameter No.12310).
pulse generator for the first rotary axis in tool tip center rotation handle feed
[Data type] byte

[Data range] 1 to 8
for the first manual handle pulse generator for the first rotary axis of tool tip
center handle feed (Refer to the table of parameter No.12310).

Specifications
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pulse generator for the second rotary axis in tool tip center rotation handle feed
[Data type] byte

[Data range] 1 to 8
for the first manual handle pulse generator for the second rotary axis of tool tip
center handle feed (Refer to the table of parameter No.12310).
12318 Distance from the center of tool rotation to the tool tip (Tool length)
[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
[Data range] -99999999 to 99999999
If parameter No.19666 (tool holder offset value) is 0

Set the distance from the tool rotation center to the tool tip for the tool tip
center rotation handle/JOG feed and tool tip position display.
If parameter No.19666 (tool holder offset value) is not 0
Set the distance from the tool holder position to the tool tip.
In this case, the distance from the tool rotation center to the tool tip is the sum
of the value of No.19666 and the value of this parameter.
#7 #6 #5 #4 #3 #2 #1 #0
13112 NTD NTA
[Data type] bit
NTA The display of amount of movement in table vertical direction and table vertical
direction is
0: Displayed
1: Not displayed
NTD The display of amount of movement in tool axis direction and tool axis right-
angle direction is
0: Displayed
1: Not displayed

Specifications
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No.
19680 Type of a mechanical unit
[Data type] Byte

[Valid data range] 0 to 21
Specify the type of a mechanical unit.

PRM19680 Rotary axis to be Master and slave
controlled
0 Mechanical unit with no
rotary axis
2 Two tool rotary axes Use the first and second rotary
axes, respectively, as the
master and slave axes.
12 Two table rotary axes Use the first and second rotary
axes, respectively, as the
master and slave axes.
21 One tool rotary axis + Use the first and second rotary
one table rotary axis axes, respectively, as the tool
rotary axis and table rotary axis.
CAUTION
A hypothetical axis is counted as a controlled axes too.
<About the hypothetical axis>

In some cases, it is convenient to use an imaginary rotary
axis whose angle is fixed at a certain value.
An example of these cases might be a case in which a tool
is mounted through an attachment in a slanted manner.
In this case, the imaginary axis is the hypothetical axis.
Parameter No. 19696#0,#1 specify whether the
corresponding axes are ordinary or hypothetical axes.
First rotary axis (master)

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

Table rotary axis
First rotary axis (master)

Specifications
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19681 Controlled axis number for the first rotary axis
[Data type] Byte

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

Specify the axis direction for the first rotary axis.

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

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

Specifications
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No.
19685 Rotation angle when the first rotary axis is a hypothetical axis
[Data type] 2Word axis

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

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

Specify the axis direction for the second rotary axis.

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

Specify the direction in which the second rotary axis rotates as machine movement
when a positive movement command is issued.
0: Counterclockwise as viewed in the positive direction set in parameter No.19687
1: Clockwise as viewed in the positive direction set in parameter No.19687
Usually, reset the parameter to 0 for the tool rotary axis, and set the parameter to 1 for
the table rotation axis.

Specifications
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No.
19690 Rotation angle when the second rotary axis is a hypothetical axis
[Data type] 2Word

[Unit of data]
increment system IS-B IS-C Unit
Data unit 0.001 0.0001 deg
[Valid data range] -99999999 - +99999999
Specify a rotation angle for the second rotary axis if it is a hypothetical axis
(IA2 (parameter No. 19696#1) = 1).
#7 #6 #5 #4 #3 #2 #1 #0
19696 IA2 IA1
[Data type] Bit
IA1 The first rotary axis is

0: Ordinary rotary axis.
1: Hypothetical rotary axis.
In this case, reset the controlled axis number for the first rotary axis (parameter
No.19681) to 0. Also set parameter No.19682 to No.19685 on the assumption
that there are rotary axes.
IA2 The second rotary axis is

0: Ordinary rotary axis.
1: Hypothetical rotary axis.
In this case, reset the controlled axis number for the second rotary axis
(parameter No.19686) to 0. Also set parameter No.19687 to No.19690 on the
assumption that there is a rotary axis.
19697 Tool axis direction
[Data type] Byte

Specify the tool axis direction in the machine coordinate system when the rotary axis
for controlling the tool is at 0 degrees.
Also specify the tool axis direction in the machine coordinate system for a mechanical
unit that has only a rotary axis for controlling the table (no rotary axis for controlling the
tool).
1: +X-axis direction
2: +Y-axis direction
3: +Z-axis direction

Specifications
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Z
Tool axis direction
The tool axis direction is the
+Z-axis direction.
Y
The tool axis direction is
the +X-axis direction.
The tool axis direction is the

+Y-axis direction.
X
19700 Rotary table position (X-axis, one of the basic three axes)
19701 Rotary table position (YX-axis, one of the basic three axes)
19702 Rotary table position (Z-axis, one of the basic three axes)
[Data type] 2Word

[Unit of data]
[Valid data range] -99999999 to +99999999
Set these parameters when parameter No.19680 = 12 or 21. To be specific, set the
vector from the machine coordinate system origin to point A on the first rotary axis of
the table as the position of the rotary table in the machine coordinate system in these
parameters.
CAUTION
Select, as point A, a position on the first rotary axis of the
table where measurement is easy.
Please set this parameter by the radius value.
The value on the rectangular coordinates has to be set
when angular axis control is available.

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

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

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

Specifications
Draw
A-78713EN
No.
19709 Intersection offset vector between the tool axis and the first rotary axis of the
tool (X-axis, one of the basic three axes)
tool (Y-axis, one of the basic three axes)
tool (Z-axis, one of the basic three axes)
[Data type] 2Word

[Unit of data]
Set this parameter if the tool axis and the rotary axis of the tool do not cross each other.
The setting becomes effective if parameter No.19680 = 2 or 21.
If parameter No.19680 = 21, when all the rotary axes for controlling the tool are at 0
degrees, specify the vector from point D on the tool axis to point E on the first rotary
axis of the tool as the intersection offset vector in the machine coordinate system.
If parameter No. 19680 = 2, when all the rotary axes for controlling the tool are at 0
degrees, specify the vector from point D on the tool axis to point E on the second rotary
axis of the tool as the intersection offset vector in the machine coordinate system.
CAUTION
Point D is a point from the tool center point obtained by
taking the tool length (parameter No.12318) and tool
holder offset (parameter No.19666) into account.
Select, as point E, a position where measurement is easy.
If the tool axis and the tool rotary axis do

not cross each other Controlled point
Intersection offset vector between

E
the tool axis and the first rotary
axis of the tool
First rotary axis of the tool = PRM19709,19710,19711
= PRM19681
D
Tool holder offset
= PRM19666
Tool length
= PRM12318
Tool center point

Specifications
Draw
A-78713EN
No.
19712 Intersection offset vector between the first and second rotary axes of the tool
(X-axis, one of the basic three axes)
(Y-axis, one of the basic three axes)
(Z-axis, one of the basic three axes)
[Data type] 2Word

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

not cross each other = PRM19681
Intersection offset vector between

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

between the tool axis and the
E first rotary axis of the tool
= PRM19709,19710,19711
Second rotary axis of the tool
= PRM19686 D Tool holder offset
= PRM19666
Tool length
= PRM12318
Tool center point

Specifications
Draw
A-78713EN
No.
#7 #6 #5 #4 #3 #2 #1 #0
19665 SVC SPR
[Data type] Bit
SPR Specify a method for shifting a controlled point as follows:

0: Automatic calculation
1: Use parameter No.19667.
SVC Specify whether the controlled point is to shift as follows:

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

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

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

Specifications
Draw
A-78713EN
No.
Controlled-point shift
First rotary axis of the tool
= PRM19681
Controlled point
F Controlled-point shift vector

= PRM19667
Second rotary axis of the tool

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

[Unit of data]
Set the amount of the offset in a machine peculiar part from the rotation center of the
rotary axis to the tool hold position (amount of the tool holder offset).
CAUTION

Specifications
Draw
A-78713EN
No.
5 Alarm and message
Number Message Contents

PS5459 MACHINE PARAMETER A parameter (No.19680 to
INCORRECT No.19714 or No.19665 to
No.19667) for configuring the
machine is incorrect.

Specifications
Draw
A-78713EN
No.
6 Caution
(1) The manual handle feed option is necessary for the handle feed for 5-axes machining
(2) In case that the tool direction handle feed option or the tool direction handle feed B option
exists, the manual feed for 5-axes machining is not available.
(3) When the manual reference position return mode is selected, the manual feed for 5-axes
machining is not enabled.

Specifications
Draw
A-78713EN
No.

Manual Feed For 5-Axis Machining Specifications: FANUC Series 16i - MB/TB, 18i - MB5

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Available Formats

Manual Feed For 5-Axis Machining Specifications: FANUC Series 16i - MB/TB, 18i - MB5

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FANUC Series 16i - MB/TB, 18i - MB5

Manual feed for 5-axis machining

2.1 TOOL AXIS DIRECTION HANDLE/JOG FEED ............................................................................................. 3

5 ALARM AND MESSAGE..............................................................................................31

FANUC Series 16i-MB/TB,18i-MB5

By this function, the following functions can be used.

• Manual feed for 5-axis machining

• Screen display functions

FANUC Series 16i-MB/TB,18i-MB5

2.1 Tool axis direction handle/JOG feed

Tool axis direction handle feed

FANUC Series 16i-MB/TB,18i-MB5

Ex.) No.19697=3 (+Z direction), Z-axis is the 3rd axis.

FANUC Series 16i-MB/TB,18i-MB5

Tool axis direction

Tool axis right-angle direction 2

FANUC Series 16i-MB/TB,18i-MB5

Tool axis right-angle direction JOG feed

Ex.) No.19697=3 (+Z direction)

FANUC Series 16i-MB/TB,18i-MB5

Tool tip position

FANUC Series 16i-MB/TB,18i-MB5

Tool tip center rotation JOG feed

Ex.) In case of rotating B-axis (4th axis)

FANUC Series 16i-MB/TB,18i-MB5

Table vertical direction

Table vertical direction handle feed

FANUC Series 16i-MB/TB,18i-MB5

FANUC Series 16i-MB/TB,18i-MB5

Table horizontal direction 2

B Table vertical direction

FANUC Series 16i-MB/TB,18i-MB5

Table horizontal direction JOG feed

Ex.) No.19697=3 (+Z direction)

FANUC Series 16i-MB/TB,18i-MB5

5-AXIS MANUAL FEED SCREEN

FANUC Series 16i-MB/TB,18i-MB5

FANUC Series 16i-MB/TB,18i-MB5

1. Push the soft key (OPRT).

FANUC Series 16i-MB/TB,18i-MB5

Tool axis direction feed mode signal ALNGH<G023#7>

If this signal is set to "1" and TB_BASE is set to "1":

Tool axis right-angle direction feed mode signal RGHTH<G023#6>

If this signal is set to "1" and TB_BASE is set to "1":

Tool tip center rotation feed mode signal RNDH<G298#2>

FANUC Series 16i-MB/TB,18i-MB5

If this signal is set to 1:

FANUC Series 16i-MB/TB,18i-MB5

[Data type] byte

Status of the manual handle feed axis

FANUC Series 16i-MB/TB,18i-MB5

[Data type] byte

Tool axis First axis Second axis

[Data type] byte

[Data type] byte

FANUC Series 16i-MB/TB,18i-MB5

[Data type] byte

[Data type] 2-word