Matsuura Europe GmbH
31-May-07
By specifying a TWP G68.2,
programming efficiency
can be improved
Rotary Axes align the plane to
the Tool Orientation when
Tool Axis Direction Control is
commanded G53.1
Part Program can be made on the regular XYZ plane (Machine Co-Ordinate
System) – The NC converts the program to the Tilted Working Plane
Euler Angle
Rotation
Cutting MODEL
Material
SWARF
(5)
POCKET
(4)
(0)
(6)
(3)
(1)
(2)
Each area is compensated by using 5AX
functions.
POCKET : 3AX (Tilt clamped)
SWARF : Simultaneous 5 axis
Position
A axis C axis
Program
STD
TCPC
Function
WSEC
TWP
Work piece
Rotation
(0)
0
0
0
(1)
-15
0
0
(2)
-15
60
0
(3)
-15
120
0
(4)
-15
180
30
(5)
-15
240
-30
(6)
-15
300
180
TWP
G68.2 X0.0 Y51.946 Z-6.483 I180.0 J15.0 K30.0
WSEC
TWP
G68.2 X-44.987 Y25.973 Z-6.483 I240.0
J15.0 K30.0
WSEC
x
G54.4P3
y
z
-44.987
25.973
-6.483
a
b
c
13.064
-7.435
-90.853
TWP
G68.2 X-44.987 Y-25.973 Z-6.483 I-60.0
J15.0 K180.0
WSEC
TWP
x
G54.4P3
y
z
0.0
51.946
-6.483
a
b
c
13.064
-7.435
-150.853
(4)
Y
(0)
(5)
G68.2 X44.987 Y25.973 Z-6.483 I120.0
J15.0 K0.0
(3)
X
x
z
-44.987
-25.973
-6.483
a
b
c
-15.0
0.0
120.0
x
G54.4P3
y
z
44.987
25.973
-6.483
a
b
c
15.0
0.0
120.0
TWP
(6)
(2)
(1)
G68.2 X44.987 Y-25.973 Z-6.483 I60.0
J15.0 K0.0
WSEC
TWP
G54.4P4
y
WSEC
x
G54.4P2
y
z
44.987
-25.973
-6.483
a
b
c
15.0
00.0
60.0
G68.2 X0.0 Y-51.946 Z-6.483 I0.0 J15.0 K0.0
WSEC
x
G54.4P1
y
z
0.0
-51.946
-6.483
a
b
c
15.0
0.0
0.0
Matsuura Machinery Corporation
31-May-07
Tilted Working Plane Command
Function Updates
1.
2.
Additional Options to Specify the TWP
Alternatives to Euler angle specification
New Option when Specifying Successive TWPs
Successive TWPs can be specified ‘Absolutely’ or ‘Incrementally’
3.
Alternative Machine Motion when Positioning to the TWP
4.
Guidance Screens for Tilted Working Plane Command
Selection of ‘Compensated’ or ‘Non-Compensated’ Rotary Motion
GUI for Command Type selection and Data Input
Tilted Working Plane Command
Function Updates
1.
2.
Additional Options to Specify the TWP
Alternatives to Euler angle specification
New Option when Specifying Successive TWPs
Successive TWPs can be specified ‘Absolutely’ or ‘Incrementally’
3.
Alternative Machine Motion when Positioning to the TWP
4.
Guidance Screens for Tilted Working Plane Command
Selection of ‘Compensated’ or ‘Non-Compensated’ Rotary Motion
GUI for Command Type selection and Data Input
Problem:
1. Not very user friendly
Requires dedicated post – not suitable for manual set-up
2. Not easy to visualize
Doesn’t relate well to the actual machine rotary axes
Solution:
More ways to specify a Tilted Working Plane
(No Longer Exclusively Euler Angles)
Easy to match the machine rotation axes
Useful for Manual Set-Up
Origin Specification + 3 Axis Rotations
Program Format:
G68.2 P1 Q123 XYZ IJK
Program Format:
Probably the most useful in terms of
Automatic Probing or Manual Set-up
3 Points + Origin Shift + Z Axis Rotation
G68.2 P2
G68.2 P2
G68.2 P2
G68.2 P2
Q0 XYZ R
Q1 XYZ
Q2 XYZ
Q3 XYZ
Program Format:
G68.2 P3 XYZ IJK
G68.2 P3 IJK
Specify Origin + X&Z Axis Vectors
Program Format:
Similar in specification to Euler Angle
transformation
Specify Origin + 3 Axis Rotations
G68.2 P4 XYZ IJK
TILTED WORKING PLANE COMMAND (G68.2)
TWP COMMAND TYPE:
EULER ANGLE
ROLL, PITCH and YAW
TWP COMMAND:
G68.2 XYZ IJK
G68.2 P1 Q123 XYZ IJK
3 POINT
G68.2 P2
G68.2 P2
G68.2 P2
G68.2 P2
Q0 XYZ R
Q1 XYZ
Q2 XYZ
Q3 XYZ
2 VECTOR
G68.2 P3 XYZ IJK
G68.2 P3 IJK
PROJECTION ANGLE
G68.2 P4 XYZ IJK
TILTED WORKING PLANE COMMAND (G68.2)
More Flexibility to Match the Current Job
Easier to match the way a plane is specified on a drawing or easier
to establish the origin of the plane according to part features
[Important for Automatic probing set-up of the part]
Easier to Match the Machine Rotary Axes
Makes manual set-up (and calculation) of the required
Working Plane much easier
[Important for Manual set-up of a Tilted Work Plane]
More Posting Options
Greater flexibility in the choice of posting formats
[Important for getting a reliable post format]
Tilted Working Plane Command
Function Updates
1.
2.
Additional Options to Specify the TWP
Alternatives to Euler angle specification
New Option when Specifying Successive TWPs
Successive TWPs can be specified ‘Absolutely’ or ‘Incrementally’
3.
Alternative Machine Motion when Positioning to the TWP
4.
Guidance Screens for Tilted Working Plane Command
Selection of ‘Compensated’ or ‘Non-Compensated’ Rotary Motion
GUI for Command Type selection and Data Input
It is now possible to specify multiple TWPs
either Absolutely or Incrementally without
having to cancel the TWP mode
Absolute TWP
Command
Incremental TWP
Command
G68.2
G68.4
G69 Cancels the TWP mode as normal
For Multiple TWPs:
MTW Pm11221#0=1
In TWP mode, a new feature co-ordinate system
relative to the currently active WORK co-ordinate
system is defined by an additional G68.2 command.
O0100;
N1 G54;
N2 G90 G01 X20 Y5 Z0 F1000;
N3 G68.2 X20 Y5 Z0 I0 J90 K0;
N4 G53.1;
N5 X-15 Y0 Z-15;
N6 G68.2 X5 Y20 Z0 I90 J90 K0;
N7 G53.1;
TWP COMMAND
TYPE:
TWP COMMAND:
EULER ANGLE
G68.2
ROLL, PITCH and YAW
G68.2 P1
3 POINT
G68.2 P2
2 VECTOR
G68.2 P3
PROJECTION ANGLE
G68.2 P4
N8 G69;
In TWP mode, a new feature co-ordinate system
relative to the currently active FEATURE co-ordinate
system is defined by an additional G68.4 command.
O0200;
N1 G54;
N2 G90 G01 X20 Y5 Z0 F1000;
N3 G68.2 X20 Y5 Z0 I0 J90 K0;
N4 G53.1;
N5 X-15 Y0 Z-15;
N6 G68.4 X-15 Y0 Z-15 I90 J90 K-90;
N7 G53.1;
TWP COMMAND
TYPE:
TWP COMMAND:
EULER ANGLE
G68.4
ROLL, PITCH and YAW
G68.4 P1
3 POINT
G68.4 P2
2 VECTOR
G68.4 P3
PROJECTION ANGLE
G68.4 P4
N8 G69;
PROGRAM
ORIGIN
G54
WORK CSYS
FEATURE CSYS
1ST TWP – G68.2
PROGRAM
ORIGIN
G54
WORK CSYS
FEATURE CSYS
1ST TWP – G68.2
FEATURE CSYS
FEATURE CSYS
2ND TWP – G68.2
2ND TWP – G68.4
G54
Y
Y
EACH NEW FEATURE CSYS IS BASED
ON THE CURRENT WORK CSYS
EACH NEW FEATURE CSYS IS BASED
ON THE CURRENT FEATURE CSYS
Multiple TWPs - Absolute
(G68.2 + G68.2 … + G68.2 etc.)
Multiple TWPs - Incremental
(G68.2 + G68.4 … + G68.4 etc.)
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
No Need to Cancel TWP mode between Planes
Simpler programming and machine motion
[Important for safe use of the TWP function]
Simpler Specification of TWPs
More Flexibility for manual set-up and more programming options
[Possible to use Tilted Work Plane function for ‘Indexing’ applications]
#7
#6
#5
#4
#3
Pm #11221
#1
#0
MTW
[Input Type] Parameter Input
#0 MTW
#2
Multiple Tilted Working Plane Command is:
0: Not Used.
1: Used.
Tilted Working Plane Command
Function Updates
1.
2.
Additional Options to Specify the TWP
Alternatives to Euler angle specification
New Option when Specifying Successive TWPs
Successive TWPs can be specified ‘Absolutely’ or ‘Incrementally’
3.
Alternative Machine Motion when Positioning to the TWP
4.
Guidance Screens for Tilted Working Plane Command
Selection of ‘Compensated’ or ‘Non-Compensated’ Rotary Motion
GUI for Command Type selection and Data Input
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
It is now possible to specify the type of motion
used when positioning to the TWP, either Control
Point (CP) or Tool Control Point (TCP) hold type
Control Point
Hold Type
Tool Center Point
Hold Type
G53.1
G53.6
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
Control Point Hold Type (G53.1)
Tool Control Point Hold Type (G53.6)
Rotary Axes can be moved to position for
the TWP, without involving the Linear
Axes that control the Tool Position
When the Rotary Axes move, the Linear
Axes are ‘Controlled’ to keep the Tool
Center Point in the same position relative
to the Table
(TCPC Type Machine Motion)
(Normal Machine Motion)
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
Control Point Hold Type (G53.1)
Tool Control Point Hold Type (G53.6)
The Icons displayed on the FANUC control are for Tool Rotation Type machines
CP – Rotary Axes move Independent of
tool Control Axes
TCP – The motion of the Rotary and tool
Control Axes maintain Tool Center position
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
It is also possible to specify the Tool Control Point Hold Type
motion with an additional R parameter
This can be used to maintain a ‘Clearance’ dimension between
Tool and Work during positioning, but still maintain the correct
orientation of the Tool with reference to the Part
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
Positioning motion is now a User Choice
Direct result of customer requests
Removes the perception of some customers that the function is unsafe
Can now meet the customers needs and posting requirements
[Important for safe use of the TWP function]
Tilted Working Plane Command
Function Updates
1.
2.
Additional Options to Specify the TWP
Alternatives to Euler angle specification
New Option when Specifying Successive TWPs
Successive TWPs can be specified ‘Absolutely’ or ‘Incrementally’
3.
Alternative Machine Motion when Positioning to the TWP
4.
Guidance Screens for Tilted Working Plane Command
Selection of ‘Compensated’ or ‘Non-Compensated’ Rotary Motion
GUI for Command Type selection and Data Input
New GUI for the Selection and Set-Up of TWPs
This new ‘Guidance Screen’ option consists of a Command Type
Selection screen and a Data Input Screen
By using these Guidance Screens a TWPC block can be created and
inserted into the program or an existing block can be modified
Command Type Selection Screen
Data Setting Screen
G68.2 P1 Q123 XYZ IJK
G68.2 P2
G68.2 P2
G68.2 P2
G68.2 P2
Q0 XYZ R
Q1 XYZ
Q2 XYZ
Q3 XYZ
G68.2 P3 XYZ IJK
G68.2 P3 IJK
G68.2 P4 XYZ IJK
Tool Direction Control
TILTED WORKING PLANE COMMAND (G68.2/G68.4)
Manual Editing of TWPC blocks now Possible
Much more user friendly Function
[Important for manual set-up of a TWP]
#7
#6
#5
#4
Pm #11304
#3
#2
#1
#0
GGD
[Input Type] Parameter Input
#1 GGD
The G-Code Guidance Screen is:
0: Not Displayed.
1: Displayed.
Note:
When this parameter is set, the power must be turned off
and back on again, before operation is continued.
TILTED WORKING PLANE COMMAND
More options to specify a TWP
Euler, Roll Pitch and Yaw, 3 Point, 2 Vector, Projection
Multiple TWPs
Absolute G68.2, Incremental G68.4
Different Positioning Motions
Control Point Hold G53.1, Tool Control Point Hold G53.6
Guidance Screens
New Graphical User Interface for manual set-up and editing