Mitsubishi Electric M700V Series Programming Manual page 471

13. Program Support Functions
Command format
G68.1 X__ Y__ Z__ I__ J__ K__ R__ ;
G68.1 : 3-dimensional coordinate conversion mode command
X,Y,Z : Rotation center coordinates
I,J,K : Rotation center axis direction (1: Designated 0: Not designated)
R : Rotation angle
G69.1 ;
G69.1 : 3-dimensional coordinate conversion mode cancel command
Detailed description
(1) Command the rotation center coordinates with absolute values.
(2) If the rotation center coordinates are omitted, the zero point of the currently set coordinate
system will be the rotation center coordinates.
(3) Designate values for I, J and K. If even one is not designated, program coordinate rotation
command will be valid.
(4) Set "1" in only one of I, J and K, and set "0" for the other two.
The program error (P33) will occur if "1" is set in two or more.
(5) The program error (P33) will also occur if "0" is set for all I, J and K.
(6) When addresses I, J and K are not designated, this will be handled as the program coordinate
rotation.
(7) If a number other than "0" (including two-digit numbers) is designated for addresses I, J and K,
this will be handled as "1". If a blank is designated, this will be handled as "0".
(8) If a G code that cannot be commanded in the 3-dimensional coordinate conversion modal is
issued, the program error (P921) will occur. When the 3-dimensional coordinate conversion is
commanded during the modal where 3-dimensional coordinate conversion cannot be carried out,
the program error (P922) will also occur. Furthermore, the G codes that cannot be commanded
together with G68.1 are commanded in the same block as G68.1, the program error (P923) will
occur.
(9) The 3-dimensional coordinate conversion command for the rotary axis will result in the program
error (P32).
(10) If a 3-dimensional coordinate conversion command is issued when there is no specifications for
3-dimensional coordinate conversion, the program error (P920) will occur.
13.23 3-dimensional Coordinate Conversion; G68.1/G69.1
Designate with the absolute position of the local coordinate system.
Note that "1" is designated for only one of the three axes. "0" is designated for
the other two axes.
The counterclockwise direction looking at the rotation center from the rotation
center axis direction is positive (+).
The setting range is -360 to 360°, and the increment follows the setting and
display unit.
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