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FS 16i/18i/21i-MA/MB/TA/TB, 18i-MB5, Periodical secondary pitch error compensation Additional Manual Page 4

Additional Manual
1.1 Periodical secondary pitch error compensation
1. Overview
When a rotary table is rotated using a gear, there are two cycles of the
occurrence of pitch errors. One cycle is the same as that of the rotation of the
rotary table while the other is the same as that of the rotation of the gear for
rotating the rotary table. To compensate for pitch errors of these types, the
compensation for the pitch error due to the rotation of the gear is
superimposed on the compensation for the pitch error per rotation of the rotary
table.
2. Explanation
If the gear between the rotary table and the servo motor is of a single stage, as
shown in Fig 1.1(a), stored pitch error compensation is used for the
compensation for the pitch error of toothed wheel A and periodical secondary
pitch error compensation is used for the pitch error of toothed wheel B.
If there is a multiple-stage gear, as shown in Fig.1.1(b), stored pitch error
compensation is used for toothed wheel A and periodical secondary pitch error
compensation is used for the periodically pitch error that ooccurs in each pitch
error compensation interval of toothed wheel A.
Motor
Rotary Table
Toothed wheel
A
Toothed wheel B
Fig 1.1(a) Periodical Secondary Pitch Error Compensation for a Single-Stage Gear
Motor
Rotary Table
Toothed wheel A
Fig 1.1(b) Periodical Secondary Pitch Error Compensation for a Multiple-Stage Gear
Edit
Apprv.
Desig.
Sheet
Title
Draw
No.
Date
Design
Description
Date
FANUC Series 16i/18i-MA/MB, 18i-MB5
FANUC Series 16i/18i-TA/TB
Periodical secondary pitch error compensation
A-78868E
2003.04.11
Egashira
3/8
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Contents Summary of FS 16i/18i/21i-MA/MB/TA/TB, 18i-MB5, Periodical secondary pitch error compensation Additional Manual

  • Page 1TECHNICAL REPORT (MANUAL) No. TMN03/039E Date : Apr. 24, 2003 General Manager of Software Development Center FANUC Series 16i/18i/21i-MA/MB/TA/TB, 18i-MB5 Periodical secondary pitch error compensation 1. Communicate this report to: Your information only ○ GE Fanuc-N, GE Fanuc-E FANUC Robotics MILACR
  • Page 2FANUC Series 16i/18i-MA/MB FANUC Series 18i-MB5 FANUC Series 16i/18i-TA/TB Periodical secondary pitch error compensation Specifications FANUC Series 16i/18i-MA/MB, 18i-MB5 Title FANUC Series 16i/18i-TA/TB Periodical secondary pitch error compensation Draw No. A-78868E Edit Date Design Description Sh
  • Page 3Index 1. Overview 3 2. Explanation 3 3. Example 5 4. Parameter 7 5. Caution 8 FANUC Series 16i/18i-MA/MB, 18i-MB5 Title FANUC Series 16i/18i-TA/TB Periodical secondary pitch error compensation Draw No. A-78868E Edit Date Design Description Sheet 2/8 Date 2003.04.11 Desig. Egashira Apprv.
  • Page 41.1 Periodical secondary pitch error compensation 1. Overview When a rotary table is rotated using a gear, there are two cycles of the occurrence of pitch errors. One cycle is the same as that of the rotation of the rotary table while the other is the same as that of the rotation of the gear for rot
  • Page 5Although a rotary table is used as an example here, periodical secondary pitch error compensation can be used in the same way when the machine is moved along a linear axis using a gear. For example, in a configuration such as that shown in Fig 1.1(c), stored pitch error compensation is used for the
  • Page 63. Example When a rotary table is rotated using a gear, a pitch error relative to the cycle of the rotation of the rotary table occurs, as does a pitch error relative to the cycle of the rotation of the gear for rotating the rotary table. To compensate for these two types of pitch errors, the pitch
  • Page 7- Pitch error after superimposition in portion A Pitch error with the cycle of the rotation of the gear ε：Pitch error in portion A ε A Fig 1.1(f) Synchronous Second Pitch Error The above figure (Fig 1.1(f)) shows an example of periodical secondary pitch error compensation. The compensation for the p
  • Page 84. Parameter 14985 Number of the farthest periodical secondary pitch error compensation point in the negative direction for each axis. [Data type] Word axis [Data unit] number [Valid data range] 0-1023 The compensation point specified with this parameter is used as a reference point for periodical s
  • Page 95. Note 1 Using the appropriate parameters, set the number of the most distant periodical secondary pitch compensation point on the - side of each axis and the number of the most distant periodical secondary pitch compensation point on the +side of each axis. If the settings of these two parameters