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FS 16i Additional Manual Page 4

Additional Manual
2002/03/20 T.Horie
A-78672EN
FANUC Series 16i-MB
Jerk Control Specifications
Title
Drawing No.
Page
Descri
p
tionDate Edit
3/15
1.1 Jerk Control
Overview
AI contouring control (AICC) or AI nano contouring control
(AI nanoCC) or AI High Precision Contour control (AI-HPCC)
or AI Nano High Precision Contour control (AI-nanoHPCC),
which are high-speed, high-precision machine functions,
perform speed control in such a way that the rate of change of
acceleration (jerk) will be smooth.
As a result, vibration and shocks on the machine are reduced,
leading to machining at higher precision.
There are two types of jerk control functions as described
below.
<1> Speed control based on changes to acceleration for each
axis
Speed control for portions where there is a large change
to acceleration, for example, a portion where a specified
shape changes from a straight line to a curved line, is
performed using look-ahead acceleration/deceleration
before interpolation by obtaining a feed rate that can
keep a change to acceleration for each axis from
exceeding their permissible acceleration change level.
As a result, vibration in a servo section where there can
be a large change to acceleration is suppressed, leading
to an improved precision for cut surfaces.
<2> Look-ahead smooth bell-shaped
acceleration/deceleration before interpolation
Look-ahead bell-shaped acceleration/deceleration before
interpolation performs control in such a way that
tangential changes to acceleration in the acceleration
change time will be smooth.
As a result, ordinary bell-shaped
acceleration/deceleration can become smoother, leading
to a reduction in shocks to the machine at
acceleration/deceleration.
If the bell-shaped acceleration/deceleration is specified
as an acceleration/deceleration type for the following
functions performed in acceleration/deceleration before
interpolation, the same effect as stated above can be
achieved because this function makes changes to
acceleration smoother.
- Acceleration/deceleration before interpolation for linear
rapid traverse
- Optimum-torque acceleration/deceleration (only AI High
Precision Contour control (AI-HPCC) or AI Nano High
Precision Contour control (AI-nanoHPCC))
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Contents Summary of FS 16i Additional Manual

  • Page 1TECHNICAL REPORT (MANUAL) TMN02/044E Date: 10. MAY.2002 General Manager of Software Development Center FANUC Series 16i-MB/18i-MB5 Tool center point control for 5-axismachining FANUC Series 16i-MB/18i-MB5 Tool radius compensation for5-axis machining FANUC Series 16i-MB/18i-MB/MB5 Tilted working plan
  • Page 2FANUC Series 16i –MB Jerk Control Specifications Copyright  2002 FANUC LTD. Note) The specification may be changed without notice. Title FANUC Series 16i-MB Jerk Control Specifications Drawing No. A-78672EN Page Edit Date Description 1/15 2002/03/20 T.Horie
  • Page 3Contents 1.1 JERK CONTROL .................................................................................................................................. 3 1.1.1 SPEED CONTROL BASED ON CHANGES TO ACCELERATION FOR EACH AXIS ................ ５ 1.1.2 LOOK-AHEAD SMOOTH BELL-SHAPED ACCELERATION/DECELE
  • Page 41.1 Jerk Control Overview AI contouring control (AICC) or AI nano contouring control (AI nanoCC) or AI High Precision Contour control (AI-HPCC) or AI Nano High Precision Contour control (AI-nanoHPCC), which are high-speed, high-precision machine functions, perform speed control in such a way that th
  • Page 5Limitations For explanations about the restrictions of this function, see the descriptions about AI contouring control (AICC) or AI nano contouring control (AI nanoCC) or AI High Precision Contour control (AI-HPCC) or AI Nano High Precision Contour control (AI-nanoHPCC), because the function uses it
  • Page 61.1.1 Speed control based on changes to acceleration for each axis Vibration or shocks may occur to the machine in portions where there is a large change to acceleration, for example, a portion where the shape specified by the machining program changes from a straight line to a curved line. To reduc
  • Page 7value is 0, speed control based on changes to acceleration is not performed for the axis that corresponds to that parameter value. Continuous linear interpolation In speed control based on acceleration changes in continuous linear interpolation, the deceleration speed is obtained from changes to acc
  • Page 8In transition of linear interpolation R circular interpolation, speed control is performed based on a permissible acceleration change level set in parameter No. 1788 (AICC or AI nanoCC) or No.19522 (AI-HPCC or Linear AI-nanoHPCC)is effective.) . Circular interpolation interpolation If linear interpo
  • Page 91789 Permissible acceleration change level for each axis in speed control based on acceleration changes for jerk control in AI contouring control (AICC) or AI nano contouring control (AI nanoCC) when linear interpolation is repeated [Input type] Parameter input [Data type] 2 word axis [Unit of data]
  • Page 10For an axis for which this parameter is 0, speed control based on acceleration changes is ineffective. If the parameter is 0 for all axes, speed control based on acceleration changes is not performed at all. 19523 Permissible acceleration change level for each axis in speed control based on accelera
  • Page 11Caution CAUTION 1 Using speed control based on acceleration changes for each axis requires the jerk control option and the AI contouring control option (AICC) or AI nano contouring control option (AI nanoCC) or AI High Precision Contour control option (AI-HPCC) or AI Nano High Precision Contour cont
  • Page 121.1.2 Look-ahead smooth bell-shaped acceleration/deceleration before interpolation Look-ahead bell-shaped acceleration/deceleration before interpolation achieves smooth acceleration/deceleration by making constant changes to acceleration in the specified acceleration change time. Look-ahead smooth b
  • Page 13(Look-ahead bell-shaped acceleration/deceleration (Look-ahead smooth bell-shaped before interpolation) acceleration/deceleration before interpolation) Tangential Tangential speed speed Time Time Acceleration Acceleration change time Acceleration Time specified in parameter No. 1772 or No.8416 Time T
  • Page 14Setting jerk change time The jerk change time is set in parameter No. 1790 (AICC or AI nanoCC) or No.19524 (AI-HPCC or AI-nanoHPCC) as a ratio to the acceleration change time. Therefore, the actual jerk change time is determined as the ratio to the acceleration change time set in parameter No. 1772(
  • Page 15Parameter 1790 Ratio of the jerk change time in smooth bell-shaped acceleration/deceleration before interpolation in AI contouring control (AICC) or AI nano contouring control mode(AI nanoCC) [Input type] Parameter input [Data type] byte type [Unit of data] % [Valid data range] 0 to 50 Specify the p
  • Page 16Caution CAUTION Using look-ahead smooth bell-shaped acceleration/deceleration before interpolation requires the jerk control option and AI contouring control option (AICC) or AI nano contouring control option (AI-nanoCC) or AI High Precision Contour control option (AI-HPCC) or AI Nano High Precision