3/4
PAGEEDT.
DATE
DESIGN
DESCRIPTION
TITLE
No.
FANUC Series 16i/18i/21i/20i/160i/180i/210i-MODEL A
DESCRIPTIONS
Concerning the addition of Look-Ahead Bell-Shaped
Acceleration/Deceleration Before Interpolation Time
Constant Change Function
B-63002EN/02-01
01 01.08.29 Newl
Re
istered
Linear acceleration/deceleration not reaching specified acceleration/deceleration
Specified
speed
Speed
Time
T1T1
T2
Fig. 2
If linear acceleration/deceleration not reaching the specified
acceleration occurs in AI contour control (AICC) mode or AI
Nano contour control (AI nanoCC) mode or AI High Precision
Contour control (AI-HPCC) mode or AI Nano High Precision
Contour control (AI-nanoHPCC) mode as shown above, this
function shortens the acceleration/deceleration time by
changing the internal acceleration for
acceleration/deceleration before interpolation and the bell-
shaped time constant in order to generate an
acceleration/deceleration pattern as close as possible to that
permits optimum bell-shaped acceleration/deceleration before
interpolation for the specified speed.
Optimum bell-shaped acceleration/deceleration before
interpolation, as mentioned here, refers to bell-shaped
acceleration/deceleration before interpolation in which
if T2 > T1, T1 and T2 are changed to T1' and T2' as shown in
the figure below so that linear acceleration/deceleration not
reaching the specified acceleration/deceleration does not
occur.
This function becomes effective for the Acceleration
/deceleration before look-ahead interpolation in AI contour
control mode or AI Nano contour control mode or AI High
Precision Contour control mode or AI Nano Contour control
mode..