13/23
PAGE
EDT.
DATE
DESIGN
DESCRIPTION
TITLE
No.
FANUC Series 16i/18i/21i/20i/160i/180i/210i-MODEL A
CONNECTION MANUAL (FUNCTION)
Concerning the addition of
Optimum Torque acceleration/deceleration
B-63003EN-1/02-10
01 01.09.06 Newl
Re
istered
(4)
In case of minus move (down) and deceleration
Because torque of Gravity works against the output torque of motor and torque of friction
works forward to the output torque of motor, torque for acceleration/deceleration is as
follows.
Maximum torque : 90(=100-20+10) (Nm) Speed: 0 to 2000 (min
-1
)
Torque at rapid traverse : 69(=79-20+10) (Nm) Speed: 3000 (min
-1
)
Minimum torque : 48(=58-20+10) (Nm) Speed: 4000 (min
-1
)
0
20
40
60
80
100
0 1000 2000 3000 4000
Speed(min
-1
)
Torque(N
P0 P1
P5
Fig. (m) Torque for Acc/Dec in case of - move and deceleration
Parameter setting is as follows,
Parameter
No.
Setting Unit Remarks
Acceler
ation at
P0
19563 18712 0.01
%
At P0, 90(Nm) can be used for the
acceleration/deceleration, so set the
ratio 7717 (mm/sec
2
) to 4124
(mm/sec
2
). 1.8712 = 7717/4124
Acceler
ation at
P1
19564 18712 0.01
%
At P1, 90(Nm) can be used for the
acceleration/deceleration, so set the
ratio 7717 (mm/sec
2
) to 4124
(mm/sec
2
). 1.8712 = 7717/4124
Acceler
ation at
P2 - P4
19565-19567 0 0.01
%
0 is set because P2 to P4 are
skipped.
Acceler
ation at
P5
19568 14345 0.01
%
At P5, 69(Nm) can be used for the
acceleration/deceleration, so set the
ratio 5916 (mm/sec
2
) to 4124
(mm/sec
2
). 1.4345 = 5916/4124
P1
P0
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
0 16000 32000 48000
Speed (mm/min)
Acceleration (mm/
2
)
P5
Fig. (n) Acceleration pattern in case of - move and deceleration