Haas Technical Documentation Trunnion Information Scan code to get the latest version of this document Translation Available Trunnion Features Haas trunnions have more than one configuration. Thus, to make a program for the trunnion, you must know these facts: 1. The direction and the position of the A-Axis centerline (The A Axis turns around the A-Axis "centerline"). 2. The direction and the position of the B-Axis centerline (The B Axis turns around the B-Axis "centerline"). For all trunnions, the A Axis is the "tilt axis." When the A Axis turns ("tilts"), the B Axis moves. But when the B Axis turns, the A Axis does not move. For most trunnion installations, the A-Axis centerline is parallel to the X Axis of the machine. The B- Axis centerline is always perpendicular to the A-Axis centerline. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 1/10
The A Axis tilts +/-120 degrees. The B Axis (the platter) turns 360 degrees. The Haas TRT Series is almost the same as the trunnion machines. The distance from the distance from the top surface of the platter to the A-Axis centerline is different for different TRT models. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 2/10
The TR160Y is a compact trunnion. You can install the trunnion with the A Axis ("tilt Axis") parallel to the Y Axis of the machine. This makes the other areas on the table available for other work. Accuracy Accuracy and repeatability is calculated in arcseconds. One complete revolution of the platter is 360 degrees. Each degree is divided into 60 arcminutes. Each arcminute is divided into 60 arcseconds. One arcsecond = 1/3600 of a degree. All rotary tables have some error, measured in arcseconds. The rotary error translates to linear error. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 3/10
You measure the accuracy in degrees. Thus the linear error increases when you move the workpiece farther from the axis centerline. 1. Linear errors increase when the diameter increases. 2. Angular errors stay constant along the radius. Always put the workpiece as near to the axis centerline as possible. A-Axis Centerline On most Haas trunnions, the surface of the rotary platter (the B Axis) is below the A-Axis Centerline. On the TRT series, T5C series, and the TR110, the surface of the rotary platter (the B Axis) is above the A-Axis centerline. The distance between the platter surface and the A-Axis centerline can be different for each rotary of the same model. This is normal. Refer to the "Trunnion Configuration Changes" section that follows. The procedure in that section tells you how to find the A-Axis centerline. Parameters and Settings FIR and NOTCH parameters Not all 3-axis mills have rotary axis FIR and NOTCH parameters installed. When you install a rotary on a 3-axis machine, examine the FIR and NOTCH filter parameters. If values are set for the X, Y and Z Axes, you must also set the A and B Axes to the same values. Use only the values that the Parameter Checker Program recommends. The COMMAND FIR ORDER parameters for each axis are 786-790. The NOTCH CENTER FREQUENCY parameters are 884-888. The NOTCH DEPTH FACTOR parameters are 900-904.. In Position Limit Parameters Parameter 104 and Parameter 165 are the IN POSITION LIMIT parameters. These parameters Identify the distance the motor must be from the endpoint before a movement is completed, without an exact stop (a G09 or G61 command). A higher number makes movements smoother and faster during simultaneous 4- and /or 5-axis machining. A lower number can have better accuracy. But a lower number can cause the machine to vibrate during higher feedrates. Recommended values for simultaneous linear and rotary movement: Sigma 1 rotary products - 16,000 Sigma 5 rotary products - 128,000 Smoothness Setting 85 - MAX CORNER ROUNDING Setting 191 - DEFAULT SMOOTHNESS You can override both of these settings with G187, DEFAULT SMOOTHNESS. G187 alters both the smoothness and max corner rounding within a program by altering the accelerations of the axes to match the needs of the application. The command has three modes: P1, Rough = 4 times the acceleration and corner rounding values. P2, Medium = default acceleration and corner rounding values. P3, Finish = ¼ the acceleration and corner rounding values. Note: P3 increases cycle time on long programs. G93 Inverse Time Feed Mode When you program 4- or 5-axis machining in G94 Feed Per Minute Mode, Setting 34, 4th Axis Diameter, and Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 4/10
Setting 79, 5th Axis Diameter, both change the actual rotary speed. The larger the diameter, the slower the rotary turns based on the inch or millimeter feedrate. During 4- or 5-axis machining, the distance from the cutting tool to the rotary axis changes constantly. But the speed that the rotary turns does not change. Settings 34 and 79 control this speed. This usually causes unwanted sudden movements and an unsatisfactory surface finish. For a better finish and a smoother movement, use G93 Inverse Time Feed Mode during simultaneous 4- and 5- axis machining. G93 ignores Setting 34 and Setting 79. The CAM program uses mathematical calculations to control the speed. G141 3D+ Cutter Compensation Here are important facts about G141 3D+ CUTTER COMPENSATION: G141 Lets you use cutter compensation when the tool path is not in the XY plane (G17). G141 Is available in 3D and 5-axis machining operations. G141 Has a full explanation in the operator's manual. Please read it carefully. Rotary Axis Brakes These codes control the rotary axis brakes: M10-4th Axis Brake Clamp M11-4th Axis Brake Release M12-5th Axis Brake Clamp M13-5th Axis Brake Release During rotary movement, the axes releases automatically and clamp when the move is completed. To use M-codes to control the brakes is not necessary. When you do 4- or 5-axis interpolation and do not release the brakes, they release automatically. The brakes stay released until the control comes to a block of code that does not use that axis. The machine movement stops while the control clamps the brake on that axis. This dwell leaves marks in the part finish. Always use M-codes to release the brakes before simultaneous 4- or 5-Axis movement. Always clamp the brakes again at the end of the operation. After you release an axis brake with an M-Code, these are the only two procedures to clamp it again: Use the correct M-code. Cycle the power on the machine. Calculations Calculate Formulas for Rotary and Linear Speeds Use the same formulas for inches and millimeters. Diameter = the distance from the Axis centerline to the tool tip x 2. Circumference = Pi x diameter. Example: 12.566" circumference = a 4" diameter x 3.14159 Example: 319.185 mm circumference = a 101.6 mm diameter x 3.14159 Inches (millimeters) per degree = (Pi x diameter)/360 Example: 0.035" per degree = (4" diameter x 3.14159)/360 Example: 0.887 mm per degree = (101.6 mm diameter x 3.14159)/360 Degrees per Minute Speed = Inches per minute/inches per degree ( mm per minute/ mm per degree) Example: 2149 degrees per minute speed = 75" per minute/0.035" per degree. Example: 2149 degrees per minute speed = 1905 mm per minute/0.887 mm per degree. Use these formulas to calculate a rotary's speed per minute. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 5/10
Example A customer's machine is configured with both Setting 34 and Setting 79 set to 1. 3.14159 x 1" Diameter/360 = 0.0087 inches per degree. 100 Inch per minute speed/0.0087 inches per degree = 11,494 degrees per minute. The maximum speed per minute is different for different rotary models. The HA5C can turn 24,600 degrees per minute. The HRC-210 can turn 49,800 degrees per minute. Trunnion Configuration Changes Set Work Offsets To set the G54 A Axis to zero, use an indicator to make the B-Axis platter flat. Jog the indicator parallel to the Y Axis. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 6/10
Turn the A Axis to G54 A90. Use the indicator to measure the B-Axis platter along the X Axis. If necessary, adjust the trunnion to make sure the A-Axis centerline is parallel with the X Axis. Tighten the trunnion. Turn the trunnion back to G54 A0. Use an indicator to find the center of the hole in the center of the platter. This is necessary for WORK ZERO OFFSET for X AXIS and Y AXIS. Make sure the platter is flat. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 7/10
Work Zero Offset for Z Axis You must set WORK ZERO OFFSET for Z AXIS (or example, for G54) to the A-Axis centerline. To set WORK ZERO OFFSET for Z AXIS do these steps: 1. Measure the distance from the part, fixture, or platter to the centerline of the A Axis. 2. You can use one of the surfaces to set the tool length offset. Be sure to use the same surface during all of the procedure. 3. Turn to G54 A+90 [1]. Touch an edge finder to a face [2] and record the Y-Axis position. 4. Turn to G54 A-90 [3]. Touch the edge finder to the same face and record the Y-Axis position. 5. Divide the difference between the (2) positions by 2. The result is the distance from the indicated face to the A-Axis centerline. 6. Type the result into the WORK ZERO OFFSET for Z AXIS (for example, for G54). The value is a negative on a trunnion unit. Tool Length Offsets Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 8/10
After you set the WORK ZERO OFFSET for Z AXIS from the surface of the fixture to the A-Axis centerline [1], set the tool length offsets to the face of the fixture [2]. Touch the tool to the fixture. Press [TOOL OFFSET MEASURE] to set the tool offsets. Changing Tools Make sure the machine does not hit the top of the trunnion during a tool change. Be more careful if you have a sidemount tool changer. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 9/10
If you have clearance problems, limit the length of your tools and/or set a safe tool change position. Refer to the Settings and Parameters training module for instructions on setting a safe tool change position for an axis. Copyright 2018 by Haas Automation, Inc. No unauthorized reproduction Last Published On June 27, 2017 10/10