Yaskawa YASNAC PC NC Programming Manual User Manual
Yasnac pc nc programming manual
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Table of contents
Document Outline
- 1
- 1.1 FUNDAMENTALS OF PROGRAMMING TERMINOLOGY
- 1.1.1 Numerically Controlled Axes and the Number of Simultaneously Controllable Axes
- Table 1.1.1.1: Numerically Controlled Axes
- Table 1.1.1.2: The Number of Simultaneously Controllable Axes with 3-axis Control Function
- Table 1.1.1.3: The Number of Simultaneously Controllable Axes with 4-axis Control Function
- Table 1.1.1.4: Rotary Axes
- Table 1.1.1.5: Linear Axes
- Fig. 1.1.1.1 Fourth Axis (a-axis) in the Right-hand Coordinate System
- Table 1.1.1.6: The Number of Simultaneously Controllable Axes with 5-axis Control Function
- Table 1.1.1.7: Rotary Axes
- Table 1.1.1.8: Linear Axes
- Fig. 1.1.1.2 Fifth Axis (b-axis) in the Right-hand Coordinate System
- 1.1.2 Least Input Increment and Least Output Increment
- Table 1.1.2.1: Least Increment (Standard)
- Table 1.1.2.2: Least Increment (Sub Microns)
- Table 1.1.2.3: Least Increment (Sub Sub-microns)
- Table 1.1.2.4: Least Output Unit (Standard)
- Table 1.1.2.5: Least Increment (Sub Microns)
- Table 1.1.2.6: Least Increment (Sub Sub-microns)
- 1.1.3 Maximum Programmable Values for Axis Movement
- Table 1.1.3.1: Maximum Programmable Values for Axis Movement (Standard)
- Table 1.1.3.2: Maximum Programmable Values for Axis Movement (Sub-microns)
- Table 1.1.3.3: Maximum Programmable Values for Axis Movement (Sub Sub-microns)
- Table 1.1.3.4: Maximum Cumulative Values (Standard)
- Table 1.1.3.5: Maximum Programmable Values for Axis Movement (Sub-microns)
- Table 1.1.3.6: Maximum Programmable Values for Axis Movement (Sub Sub- microns)
- Table 1.1.3.7: Input Format (Standard)
- Table 1.1.3.8: Input Format (Sub Microns)
- Table 1.1.3.9: Input Format (Sub Sub-microns)
- 1.1.4 Optional Block Skip (/1), (/2 to /9) *
- 1.1.5 Buffer Register and Multi-active Register
- Table 1.1.5.1: M92 and M93 Codes
- 1.2 BASICS OF FEED FUNCTION
- 1.2.1 Rapid Traverse
- 1.2.2 Cutting Feed (F Command)
- Table 1.2.2.1: Programmable Range of F Code
- Fig. 1.2.2.1 F command in Simultaneous 2-axis Control Linear Interpolation
- Fig. 1.2.2.2 F command in the Simultaneous 2-axis Control Circular Interpolation
- Fig. 1.2.2.3 F Command in Simultaneous 3-axis Control Linear Interpolation
- 1.2.3 F1-Digit Feed*
- Table 1.2.3.1: Parameter Numbers Used for Presetting F1-digit Feedrates
- Table 1.2.3.2: Parameter Numbers Used for Setting F1-digit Multiply for the para
- Table 1.2.3.3: Parameters pm2865 and pm2866
- 1.2.4 Feed per Minute Function (G94)
- 1.2.5 Solid Tap Mode (G93, G94) *
- Table 1.2.5.1: Solid Tap Mode G Codes
- 1.2.6 Automatic Acceleration and Deceleration
- Table 1.2.6.1: Parameters Used for Setting Rapid Traverse Rate and Acceleration/ Deceleration Tim...
- Fig. 1.2.6.1 Automatic Acceleration/Deceleration in Linear Pattern
- Fig. 1.2.6.2 Acceleration/Deceleration in S-curve Pattern
- Fig. 1.2.6.3 Acceleration/Deceleration in Exponential Pattern
- 2
- Commands Calling Axis Movements
- 2.1 INTERPOLATION COMMANDS
- 2.1.1 Positioning (G00, G06, G60)
- Table 2.1.1.1 G Codes for Positioning
- FIGURE 2.1.1.1 Positioning in Simultaneous 3-axis Control Mode
- FIGURE 2.1.1.2 Unidirectional Positioning (G60)
- Table 2.1.2.1 Feedrates of Basic Three Axes and Rotary Axes (F Command)
- FIGURE 2.1.2.1 Linear Interpolation
- Table 2.1.3.1 Commands Necessary for Circular Interpolation
- FIGURE 2.1.3.1 Rotation Direction of Circular Arc
- FIGURE 2.1.3.2 End Point of Circular Arc
- FIGURE 2.1.3.3 Interpolation with End Point off the Specified Arc
- FIGURE 2.1.3.4 Circular Interpolation with Radius R Designation
- FIGURE 2.1.3.5 Full Circle
- FIGURE 2.1.4.1 Helical Interpolation
- 2.2 REFERENCE POINT RETURN
- 2.2.1 Automatic Return to Reference Point (G28)
- FIGURE 2.2.1.1 Automatic Reference Point Return
- Table 2.2.1.1 G28 Command in the Tool Position Offset Mode
- Table 2.2.1.2 Canceling Tool Length Offset Mode
- Table 2.2.1.3 G28 Command in the Mirror Image Mode
- Table 2.2.1.4 Machine Operation according to Machine Lock Intervention
- FIGURE 2.2.3.1 Return from Reference Point
- FIGURE 2.2.3.2 Coordinate Values of Point B for G29 Operation
- FIGURE 2.2.3.3 G29 Operation Executed in the Tool Position Offset Mode
- Table 2.2.3.1 G29 Operation Executed in Mirror Image Mode
- Table 2.2.4.1 Reference Point Positions
- 3
- Movement Control Commands
- 3.1 SETTING THE COORDINATE SYSTEM
- 3.1.1 Selecting the Coordinate System
- FIGURE 3.1.1.1: Coordinate Systems
- FIGURE 3.1.2.1: Setting the Base Coordinate System
- Table 3.1.3.1 G Codes Used to Call Workpiece Coordinate Systems
- Table 3.1.3.2 Number of Workpiece Coordinate System Sets
- Table 3.1.3.3 Setting Workpiece Coordinate System
- FIGURE 3.1.3.1: Rotation of Workpiece Coordinate System
- FIGURE 3.1.3.2 Workpiece Coordinate System Shift Distance
- FIGURE 3.1.3.3 Correcting the Workpiece Coordinate System Shift Distance
- FIGURE 3.1.4.1: Local Coordinate System [Workpiece Coordinate System Shift Distance (200., 100.)]
- FIGURE 3.1.5.1: Machine Coordinate System
- FIGURE 3.1.5.2 Example of Program in the Machine Coordinate System (G53)
- Table 3.1.6.1 Coordinate System Rotation G Codes
- FIGURE 3.1.6.1: Rotation of Coordinate System
- Table 3.1.6.2 Alarm Codes
- Table 3.1.7.1 Plane Selection G Codes
- 3.2 DETERMINING THE COORDINATE VALUE INPUT MODES
- 3.2.1 Absolute/Incremental Designation (G90, G91)
- Table 3.2.1.1 Absolute/incremental Designation G Codes
- FIGURE 3.2.1.1: Absolute/Incremental Commands (G90, G91)
- Table 3.2.2.1 Dimension Unit Selection G Codes
- Table 3.2.2.2 Tool Offset Amounts in G20 and G21 Modes
- Table 3.2.3.1 Scaling G Codes
- FIGURE 3.2.3.1: Example of Programming 1
- FIGURE 3.2.3.2: Example of Programming 2
- Table 3.2.3.2 Alarm Codes
- 3.3 TIME-CONTROLLING COMMANDS
- 3.4 TOOL OFFSET FUNCTIONS
- 3.4.1 Tool Offset Data Memory
- Table 3.4.1.1 Tool Offset Data Memory
- Table 3.4.1.2 Setting Range of Tool Offset Amount
- Table 3.4.2.1 G Codes Used for Tool Length Offset
- Table 3.4.2.2 Sign of Tool Offset Amount and Direction of Offset
- FIGURE 3.4.2.1: Tool Position Offset Function
- Table 3.4.3.1 G Codes Used with the Tool Position Offset Function
- FIGURE 3.4.3.1: Tool Position Offset Function
- Table 3.4.3.2 Sign Assigned to Tool Offset Data
- FIGURE 3.4.3.2: Extension and Contraction of Programmed Tool Move Distance
- FIGURE 3.4.3.3 Execution of Commands from Offset Start Point
- FIGURE 3.4.3.4 Reversed Axis Movement Direction
- FIGURE 3.4.3.5 Tool Radius Offset for a 1/4 Circle
- FIGURE 3.4.3.6 Offset Applied from the Preceding Block
- FIGURE 3.4.3.7 Canceling G45 to G48 by G28 (G30)
- FIGURE 3.4.3.8 Canceling G45 to G48 by G92
- FIGURE 3.4.3.9 Calling G45 to G48 Mode for Simultaneous Two-axis Operation
- FIGURE 3.4.3.10 Example of Programming 1
- FIGURE 3.4.3.11 Example of Programming 2
- Table 3.4.4.1 G Codes Used to Call Up the Tool Radius Offset C Function
- FIGURE 3.4.4.1: Tool Radius Offset C
- Table 3.4.4.2 Plane Selection G Codes
- FIGURE 3.4.4.2 Offset Start-up (Straight-Line to Straight-Line)
- FIGURE 3.4.4.3 Offset Start-up (Straight Line to Arc)
- FIGURE 3.4.4.4 Offset Start-up (Straight-line to Straight-line (1))
- FIGURE 3.4.4.5 Offset Start-up (Straight-line to Straight-line (2))
- FIGURE 3.4.4.6 Offset Start-up (Straight-line to Arc (1))
- FIGURE 3.4.4.7 Offset Start-up (Straight-line to Arc (2))
- FIGURE 3.4.4.8 Offset Start-up (Straight-line to Straight-line (1))
- FIGURE 3.4.4.9 Offset Start-up (Straight-line to Straight-line (2))
- FIGURE 3.4.4.10 Offset Start-up (Straight-line to Arc (1))
- FIGURE 3.4.4.11 Offset Start-up (Straight-line to Arc (2))
- FIGURE 3.4.4.12 Straight-line to Straight-line
- FIGURE 3.4.4.13 Straight-line to Arc
- FIGURE 3.4.4.14 Arc to Arc
- FIGURE 3.4.4.15 Round-the-arc Motion (Straight-line to Straight-line)
- FIGURE 3.4.4.16 Round-the-arc Motion (Straight-line to Arc)
- FIGURE 3.4.4.17 Round-the-arc Motion (Arc to Arc)
- FIGURE 3.4.4.18 Offset Motion (Straight-line to Straight-line)
- FIGURE 3.4.4.19 Offset Motion (Straight-line to Arc)
- FIGURE 3.4.4.20 Offset Motion (Arc to Arc)
- FIGURE 3.4.4.21 Offset Motion (Straight-line to Straight-line)
- FIGURE 3.4.4.22 Offset Motion (Straight-line to Arc)
- FIGURE 3.4.4.23 Offset Motion (Arc to Arc)
- FIGURE 3.4.4.24 Offset Motion at Inside Corner
- FIGURE 3.4.4.25 Offset Motion at Outside Corner
- FIGURE 3.4.4.26 Offset Motion if Three or More Blocks not Including Axis Move Commands are Specif...
- FIGURE 3.4.4.27 Insertion of Dummy Blocks
- FIGURE 3.4.4.28 Insertion of Dummy Block
- FIGURE 3.4.4.29 Movement to Point A by Execution of Dummy Block
- FIGURE 3.4.4.30 Correction of Offset Position
- FIGURE 3.4.4.31 Switching the Offset Direction at the Start and End of the Block
- FIGURE 3.4.4.32 Switching of the Offset Direction at Point of Intersection of Offset
- FIGURE 3.4.4.33 Switching of the Offset Direction when There Intersection is No Point of Intersec...
- FIGURE 3.4.4.34 Calculating the New Offset Data from the Axis Move Commands in the New D Code Spe...
- FIGURE 3.4.4.35 Calculating the New Offset Data from the Axis Move Commands in the New D Code Spe...
- FIGURE 3.4.4.36 Canceling the Offset Mode at Inside Corner (Straight-line to Straight-line)
- FIGURE 3.4.4.37 Canceling the Offset Mode at Inside Corner (Arc to Straight-line)
- FIGURE 3.4.4.38 Straight-line to Straight-line at Outside Corner
- FIGURE 3.4.4.39 Straight-line to Straight-line at Outside Corner
- FIGURE 3.4.4.40 From Arc to Straight-line at Outside Corner
- FIGURE 3.4.4.41 Arc to Straight-line at Outside Corner
- FIGURE 3.4.4.42 Straight-line to Straight-line at Outside Corner
- FIGURE 3.4.4.43 Straight-line to Straight-line at Outside Corner
- FIGURE 3.4.4.44 Arc to Straight-line at Outside Corner
- FIGURE 3.4.4.45 Arc to Straight-line at Outside Corner
- FIGURE 3.4.4.46 Definition of Interference
- FIGURE 3.4.4.47 Example Program 1
- FIGURE 3.4.4.48 Example Program 2
- FIGURE 3.4.4.49 Generating Tool Paths without Interference (Straight-line to Straight-line)
- FIGURE 3.4.4.50 Generating Interference-free Paths for Arc to Arc Motion
- FIGURE 3.4.4.51 Example where Interference-free Tool Paths cannot be Generated
- FIGURE 3.4.4.52 Programmed Paths Causing an Alarm Å
- FIGURE 3.4.4.53 Programmed Paths Causing an Alarm Ç
- Table 3.4.4.3 Prohibited G Codes
- FIGURE 3.4.4.54 Simultaneous Three Axes Movement Specified in the Offset Mode
- FIGURE 3.4.4.55 Correcting the Offset Position Temporarily
- FIGURE 3.4.4.56 Offsetting at Step Smaller than Tool Radius
- FIGURE 3.4.4.57 Tool Movements with Small Tangential Angle of Programmed Paths
- FIGURE 3.4.4.58 Program for the Around-the-arc Offset
- Table 3.4.5.1 G Codes Used for the Tool Offset Function
- Table 3.4.5.2 Number of Command Digits
- Fig. 3.4.5.1 Tool Path in 3-D Tool Offset and Programmed Tool Path
- FIGURE 3.4.5.1 Tool Paths after 3-D Offset (No 1, J, and K Commands)
- FIGURE 3.4.5.2 An Example of 3-D Offset Causes Overcuts (Continuous Blocks without I, J, and K Co...
- Table 3.4.5.3 G Codes That Use I, J, and K Addresses in the Same Block
- 3.5 S, T, M, AND B Functions
- 4
- ENHANCED LEVEL COMMANDS
- 4.1 PROGRAM SUPPORT FUNCTIONS (1)
- 4.1.1 Canned Cycles (G73 to G89, G181 to G189) *
- FIGURE 4.1.1.1 W-point Level CoLmmand
- FIGURE 4.1.1.2 2-step Feed
- FIGURE 4.1.1.3 Reciprocal Feed
- Table 4.1.1.4 Table of Normal Hole-machining Canned Cycles (cont’d)
- Table 4.1.1.4 Table of Normal Hole-machining Canned Cycles (cont’d)
- Table 4.1.1.4 Table of Normal Hole-machining Canned Cycles (cont’d)
- Table 4.1.1.4 Table of Normal Hole-machining Canned Cycles (cont’d)
- Table 4.1.1.5 Table of 2-step Hole-machining Canned Cycles with Special Options (cont’d)
- Table 4.1.1.5 Table of 2-step Hole-machining Canned Cycles with Special Options (cont’d)
- Table 4.1.1.5 Table of 2-step Hole-machining Canned Cycles with Special Options (cont’d)
- FIGURE 4.1.1.4 Programming in the Absolute/Incremental Programming Mode
- FIGURE 4.1.1.5 Peck Feed Cycle in the G73 and G83 Modes
- FIGURE 4.1.1.6 Mid-retraction Command (C-point Level Command)
- FIGURE 4.1.1.7 Commands of Boring Cycle (G76)
- FIGURE 4.1.1.8 Commands of Back Boring Cycle (G77)
- FIGURE 4.1.1.9 Reverse Tapping Commands (G74)
- FIGURE 4.1.1.10 Tapping Cycle Command (G84)
- FIGURE 4.1.1.11 2-step Hole Drilling Cycle Command (G181)
- FIGURE 4.1.1.12 Example of Canned Cycle
- FIGURE 4.1.2.1 Bolt Hole Circle Command (G70)
- FIGURE 4.1.2.2 Arc Command (G71)
- FIGURE 4.1.2.3 Line-at-angle Command (G72)
- FIGURE 4.1.3.1 Tapping Cycle Executed in the G84 Mode
- Table 4.1.3.2 List of Parameters (cont’d)
- Table 4.1.3.3 List of input/Output Signal
- 4.1.4 Deep-hole Solid Tap Function (G184, G174)*
- FIGURE 4.1.4.1 Tapping Cycle with Fixed Pitch Command
- FIGURE 4.1.4.2 Tapping Cycle with Variable Pitch Command
- FIGURE 4.1.4.3 Tapping Cycle with Fixed Pitch Command
- FIGURE 4.1.4.4 Tapping Cycle with Variable Pitch Command
- FIGURE 4.1.5.1 Cutting Commands (GI2, G13)
- FIGURE 4.1.5.2 High-speed Feed Interval Designation by R
- FIGURE 4.1.5.3 Spiral Circle Cut Designation by Q and K
- FIGURE 4.1.5.4 High-speed Feed Interval Automatic Calculation Designation by J
- FIGURE 4.1.5.5 Movements in the “X-” Direction (Symmetrical to Y-axis)
- FIGURE 4.1.6.1 Mirror Image ON (M95)
- FIGURE 4.1.6.2 Disagreement between Mirror Image Call Up and Cancel Positions
- FIGURE 4.1.6.3 Example of Mirror Image Application (X-axis) to G28 Intermediate Positioning Point
- FIGURE 4.1.8.1 Execution of A Subprogram
- 4.2 PROGRAM SUPPORT FUNCTIONS (2)
- 4.2.1 Program Copy (G25)*
- FIGURE 4.2.1.1 Program Copy Nesting
- FIGURE 4.2.1.2 Copying in the Same Program Number
- FIGURE 4.2.1.3 Copying Another Program Number
- FIGURE 4.2.2.1 Automatic Corner Override
- FIGURE 4.2.2.2 Automatic Corner Override – Tool Radius £ Allowance/2
- FIGURE 4.2.2.3 Automatic Corner Override – Tool Radius > l/J (Allowance)
- FIGURE 4.2.2.4 Feedrate Change Points
- FIGURE 4.2.2.5 Automatic Corner Override - I (Allowance)/2 < Tool Radius £ I (Allowance)
- FIGURE 4.2.2.6 Feedrate Change Points
- FIGURE 4.2.3.1 Stored Stroke Limit B, C
- FIGURE 4.2.3.2 Definition of Whether Boundary Is Included in Entry Prohibited Area
- Table 4.2.3.5 Turning ON/OFF the Stored Stroke Limit C
- Table 4.2.3.6 Turning ON/OFF the Stored Stroke Limit C
- Table 4.2.3.7 Parameters for Setting Servo Axis Types
- Table 4.2.3.8 Parameters for Setting Valid/lnvalid of Stored Stroke Limit for Rotary Axes
- 4.2.4 Break Point Function
- 4.2.5 High-speed Cutting *
- 4.2.6 Chamfering and Corner Rounding Commands *
- FIGURE 4.2.6.1 Chamfering at Arbitrary Angles
- FIGURE 4.2.6.2 Corner Rounding at Arbitrary Angle Corners
- FIGURE 4.2.6.3 Chamfering Command
- FIGURE 4.2.6.4 Corner Rounding Command
- FIGURE 4.2.6.5 Chamfering between Arc Block and Linear Interpolation Block
- FIGURE 4.2.7.1 Example of Programming
- FIGURE 4.2.7.2 Feed rate at Arc-Corner
- FIGURE 4.2.7.3 Deceleration Distance (Continuous G01 Blocks)
- FIGURE 4.2.7.4 Deceleration Distance (G0I to G02 Block)
- 4.3 AUTOMATING SUPPORT FUNCTIONS
- 4.4 MACROPROGRAMS
- 4.4.1 Differences from Subprograms
- 4.4.2 Microprogram Call (G65, G66, G67)
- Table 4.4.2.1 Microprogram Calling Format
- Table 4.4.2.2 P and L Commands
- Table 4.4.2.3 Modal Call Up Conditions
- Table 4.4.2.4 Parameters for Setting the Correspondence
- Table 4.4.2.5 Parameters for Setting the Correspondence
- Table 4.4.2.6 Parameter Used for Microprogram Call Up by S Code
- Table 4.4.2.7 Parameter Used for Microprogram Call Up by T Code
- Table 4.4.2.8 Parameter Used for Microprogram Call Up by B Code
- Figure 4.4.2.1 Nesting of Macroprogram Call
- Table 4.4.2.9 Address – Variable Correspondence and Usable Address for Call Up Commands (Type 1)
- Table 4.4.2.10 Address – Variable Correspondence and Usable Addresses for Call Up Commands (Type II)
- Table 4.4.2.10 Address – Variable Correspondence and Usable Addresses for Call Up Commands (Type ...
- FIGURE 4.4.2.1 Example of Argument Specification
- FIGURE 4.4.3.1 Common Variables
- Table 4.4.3.1 Common Variables
- Table 4.4.3.2 Option Type and Expanded Common Variables
- Table 4.4.3.3 System Variables
- Table 4.4.3.4 Interface Input Signals and System Variables
- Table 4.4.3.5 Value of Variables
- Table 4.4.3.6 Interface Output Signals and System Variables
- Table 4.4.3.7 Value of Variables
- Table 4.4.3.8 Tool Offset Numbers and System Variables
- Table 4.4.3.9 Tool Offset Numbers and System Variables
- Table 4.4.3.10 Workpiece Coordinate Shift Distance and System Variables (6-set Basic)
- Table 4.4.3.11 Workpiece Coordinate Shift Distance and System Variables [54-set Option (6-set Bas...
- Table 4.4.3.11 Workpiece Coordinate Shift Distance and System Variables [54-set Option (6-set Bas...
- Table 4.4.3.11 Workpiece Coordinate Shift Distance and System Variables [54-set Option (6-set Bas...
- Table 4.4.3.12 Workpiece Coordinate Shift Distance and System Variables [162-set Option (54-set O...
- Table 4.4.3.12 Workpiece Coordinate Shift Distance and System Variables [162-set Option (54-set O...
- Table 4.4.3.12 Workpiece Coordinate Shift Distance and System Variables [54-set Option (6-set Bas...
- Table 4.4.3.12 Workpiece Coordinate Shift Distance and System Variables [162-set Option (54-set O...
- Table 4.4.3.12 Workpiece Coordinate Shift Distance and System Variables [162-set Option (54-set O...
- Table 4.4.3.13 System Variables Used for Clock Function
- Table 4.4.3.14 Control for Single-Block Stop and Miscellaneous Function Completion Waiting
- Table 4.4.3.15 Control for Feed Hold, Feedrate Override, and Positioning Completion Functions
- Table 4.4.3.16 Modal Values and System Variables
- Table 4.4.3.17 Position Information and System Variables
- Table 4.4.3.18
- Table 4.4.3.19
- 4.4.4 Operation Instructions
- 4.4.5 Control Instructions
- FIGURE 4.4.5.1 Branch Instruction (Simple Jump Instruction)
- FIGURE 4.4.5.2 Branch Instruction (1-Block Instruction)
- FIGURE 4.4.5.3 Repeat Instruction
- APPENDIX 1
- APPENDIX 1.1 G CODE TABLE