a metrology software products ltd document
FANUC Kinematics Guide
(30i Onwards)
MSP Internal Only
History
Who
SH
When
11/02/2015
metrology software products ltd
What
Written
Registered No. 4468819 (England)
VAT No. 797274668
metrology software products ltd
1 Contents
1
2
Contents............................................................................................................... 2
Kinematics............................................................................................................3
2.1
2.2
3
Introduction.........................................................................................................................................................3
Accessing the Parameters..................................................................................................................................3
Kinematic Parameters of Interest .........................................................................4
3.1
3.2
3.3
3.4
3.5
Table Parameters...............................................................................................................................................4
Head Parameters................................................................................................................................................5
Other machine configurations.............................................................................................................................6
Other Parameters of Interest..............................................................................................................................6
Applying Parameters...........................................................................................................................................6
printed: 10/09/15 - 12:12
2 / 6 msp pages
metrology software products ltd
2 Kinematics
2.1 Introduction
The pivot lengths and offsets for the machine allow any errors in the head geometry to be
compensated for. On the FANUC these are found in the machine parameters section of the
controller.
2.2 Accessing the Parameters
The following steps describe how to access the machine parameters
•
Put the controller into edit mode
•
Access the machine parameters by pressing
You can scroll though these parameters using the arrow keys or the “Page Up” and “Page
Down” keys to go through them a page at a time.
printed: 10/09/15 - 12:12
3 / 6 msp pages
metrology software products ltd
3 Kinematic Parameters of Interest
The FANUC controller uses a different set of parameters for a head or table machines, these
are described below.
3.1 Table Parameters
The parameters determine the location of the axes that the machine rotates around.
Parameter
Description
19700
X location of secondary axis of table (X1) from machine zero
19701
Y location of secondary axis of table (Y1) from machine zero
19702
Z location of secondary axis of table (Z1) from machine zero
Parameter
Description
19703
X location of primary axis of table (X2) from secondary axis
19704
Y location of primary axis of table (Y2) from secondary axis
19705
Z location of primary axis of table (Z2) from secondary axis
printed: 10/09/15 - 12:12
4 / 6 msp pages
metrology software products ltd
3.2 Head Parameters
The parameters determine the location of the axes that the machine rotates around.
Parameter
Description
19709
X location of secondary axis of head (X1)
19710
Y location of secondary axis of head (Y1)
19711
Z location of secondary axis of head (Z1)
Parameter
Description
19712
X location of primary axis of head (X2)
19713
Y location of primary axis of head (Y2)
19714
Z location of primary axis of head (Z2)
printed: 10/09/15 - 12:12
5 / 6 msp pages
metrology software products ltd
3.3 Other machine configurations
When working on other machine configurations a combination of the head and table
parameters will need to be used, these will depends on the specific machine configuration.
Typically, to alter a head table machine you would change :
•
19700 – 19702 to alter the table
•
19709 – 19711 to alter the head
These only apply to a typical machine and may not be correct on every machine.
It may be the case that some machines will be configured slightly differently so these
parameters may operate differently, and some machine manufacturers may make
modification to the controller setup, in which case these parameters may be different.
3.4 Other Parameters of Interest
Parameters
Description
19741
Primary axis upper limit of rotation
19742
Primary axis lower limit of rotation
19743
Secondary axis upper limit of rotation
19744
Secondary axis lower limit of rotation
3.5 Applying Parameters
Some parameter changes on the FANUC do not require a controller restart to apply them,
usually the kinematics will not require a restart. If the controller requires a restart it will display
a warning message or alarm informing you that a restart is required.
printed: 10/09/15 - 12:12
6 / 6 msp pages