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AI (NANO) HIGH PRECISION CONTOUR CONTROL Additional Manual Page 6

Additional Manual
Title
No.
FANUC Series 16i/18i -MA/MB
AI High Precision Contour Control
FANUC Series 16i -MA/MB
AI Nano High Precision Contour Control
A-78435E
Page
5/
36
Newly registered

Ver Date Design Description
01 01.03.16
Hosokawa
1.1
Look-ahead Acceleration/Deceleration Before interpolation
Acceleration/deceleration types
There are two types of acceleration/deceleration, the linear
acceleration/deceleration type and the bell-shaped acceleration/ deceleration type.
When bit 7(BDO) and bit 1(NBL) of parameter No.8402 is set to 1 or bit 3(RSB)
of parameter No.1603 is set to 1, bell-shaped acceleration/deceleration is
assumed. Bell-shaped acceleration / deceleration produces smoother acceleration
/ deceleration.
Look-ahead linear acceleration/deceleration before interpolation
- Example of deceleration
Deceleration starts in advance so that the feedrate specified for a block can be
attained when the block is executed.
To decrease the feedrate from F3 to F2, deceleration must be started from P1.
To decrease the feedrate from F2 to F1, deceleration must be started from P2.
Because multiple blocks are read in advance, deceleration can be performed over
all those blocks.
Programmed speed
Feedrate obtained by
acceleration/deceleration
before interpolation
P1
P2
N2N1
F1
F2
F3
Feedrate
Time
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Contents Summary of AI (NANO) HIGH PRECISION CONTOUR CONTROL Additional Manual

  • Page 1TECHNICAL REPORT (MANUAL) No.TMN01/046 Date : Mar. 29, 2001 General Manager of Software Laboratory FANUC Series 16i/18i-MA/MB AI High Precision Contour Control FANUC Series 16i-MA/MB AI Nano High Precision Contour Control 1. Communicate this report to: Your information only ○ GE Fanuc-N, GE Fanuc-E
  • Page 2FANUC Series 16i/18i -MA/MB AI High Precision Contour Control FANUC Series 16i -MA/MB AI Nano High Precision Contour Control This specification may be modified for improvement without notice. FANUC Series 16i/18i -MA/MB AI High Precision Contour Control Title FANUC Series 16i -MA/MB AI Nano High Pre
  • Page 3Contents 1 AI High Precision Contour Control (FANUC Series 16i /18i -MA/MB) AI Nano High Precision Contour Control (FANUC Series 16i -MA/MB) ............................................... 3 General .....................................................................................................
  • Page 41 AI High Precision Contour Control (FANUC Series 16i /18i -MA/MB) AI Nano High Precision Contour Control (FANUC Series 16i -MA/MB) General This function is designed to achieve high-speed, high-precision machining with a program involving a sequence of very small straight lines and NURBS curved line
  • Page 5Functions enabled In AI High Precision Countour Control mode, the following functions are enabled: (1) Linear acceleration/deceleration before interpolation or bell-shaped acceleration/deceleration before interpolation (Acceleration change time constant type) (2) Deceleration function based on feedr
  • Page 61.1 Look-ahead Acceleration/Deceleration Before interpolation Acceleration/deceleration types There are two types of acceleration/deceleration, the linear acceleration/deceleration type and the bell-shaped acceleration/ deceleration type. When bit 7(BDO) and bit 1(NBL) of parameter No.8402 is set to
  • Page 7- Example of acceleration Acceleration is performed so that the feedrate specified for a block is attained when the block is executed. Feedrate Programmed speed Feedrate obtained by F3 acceleration/deceleration before interpolation F2 F1 Time N1 N2 Look-ahead bell-shaped acceleration/deceleration be
  • Page 8 Method of determining the tangent acceleration Acceleration/deceleration is performed with the largest tangent acceleration/deceleration that does not exceed the acceleration set for each axis. (Example) X-axis permissible acceleration: 1000 mm/sec2 Y-axis permissible acceleration: 1200 mm/sec2 Ac
  • Page 9- Acceleration Acceleration is performed so that the feedrate programmed for a block is attained at the beginning of the block. Feedrate Speed control by bell-shaped acceleration/deceleration before interpolation Programmed speed Time N1 N2 N3 N4 N5 - Deceleration Deceleration starts in advance so t
  • Page 10- Deceleration based on a distance If the total distance of the blocks read ahead becomes shorter than or equal to the deceleration distance obtained from the current feedrate, deceleration starts. If the total distance of the blocks read ahead during deceleration increases, acceleration is performe
  • Page 11(b) If A + B > Remaining amount of travel in the block being executed when the single-block command is executed A stop state may continue over several blocks. The stop is made as described later. Feedrate Single-block command Stop state continuing over multiple blocks A B Time A : Amount of travel t
  • Page 12(b) If A > Remaining amount of travel in the block being executed when the single-block command is executed A stop state may continue over several blocks. The stop is made as described later. Feedrate Single-block command Stop state continuing over multiple blocks A Time A : Amount of travel corresp
  • Page 131.2 Automatic feedrate control function In AI High Precision Countour Control mode, the feedrate is automatically controlled by the reading-ahead of blocks. The feedrate is determined using the following conditions. If the specified feedrate exceeds the determined feedrate, acceleration/ deceleratio
  • Page 14Feedrate control conditions In automatic feedrate control mode, the feedrate is controlled as described below: (a) From the feedrate difference on each axis at a corner, the feedrate in the corner is determined, and deceleration is performed to achieve the feedrate at the corner. (Example) N1 Specif
  • Page 15Deceleration based on the feedrate difference at a corner With look-ahead acceleration/deceleration before interpolation, the tangent feedrate is changed smoothly. Thus, no path error occurs due to acceleration/deceleration delay. With this acceleration/declaration, however, acceleration/deceleratio
  • Page 16The method of deceleration based on the feedrate difference differs depending on the setting made for parameter FNW (bit 6 of No. 19500). If "0" is set, the largest feedrate that does not exceed the permissible feedrate difference set for parameter No. 8410 is assumed to be the deceleration feedrate
  • Page 17Example of determining the feedrate with the acceleration on each axis When consecutive small lines are used to form a curve, as in the example shown in the figure below, the feedrate differences on each axis at the individual corners are not very large. Thus, deceleration with the feedrate differen
  • Page 18The method of determining the feedrate with the acceleration differs depending on the setting of parameter FNW (bit 6 of No. 19500). If "0" is set, the highest feedrate that does not cause the permissible acceleration set for parameter No. 8470 to be exceeded is assumed to be the deceleration feedra
  • Page 19FANUC Series 16i/18i -MA/MB AI High Precision Contour Control Title FANUC Series 16i -MA/MB AI Nano High Precision Contour Control 01 01.03.16 Hosokawa Newly registered No. A-78435E Ver Date Design Description Page 18/36
  • Page 20Example of determining the feedrate with the cutting load This function is enabled when parameter ZAG (bit 4 of No. 8451) is set to 1. Fig. 1.2 (c) During ascent on the Z-axis ƒ Æ Fig. 1.2 (d) During descent on the Z-axis Usually, the cutting resistance is higher when machining is performed with the
  • Page 21Z XYplane 30° Area1 90° 60° Area4 45° Area3 Area2 CAUTION 1. The function for determining the feedrate with the cutting feed is effective only when the tool is parallel with the Z-axis. Thus, it may not be possible to apply this function, depending on the structure of the machine used. 2. In the fun
  • Page 22Override to a determined feedrate The following gives the specifications of override to a feedrate determined by functions such as deceleration based on feedrate difference in look-ahead acceleration/deceleration before interpolation and deceleration based on acceleration rate in AI High Precision C
  • Page 231.3 Restrictions For the function which can be used and limitations in the AI High Precision Contour Control mode or in the AI NANO High Precision Contour Control mode, refer to the "Function List which can be used" and "Restrictions". Restriction-1 The following functions can be used but the state
  • Page 24 Advanced preview control -G08 (Please use AI High Precision Contour Control)  Polar coordinate interpolation -G12.1,G13.1  Polar coordinate command -G15,G16  Reference position return check -G27  Reference point return -G28  2nd. Reference point return -G30  3rd/4th reference point return -G
  • Page 25Restriction -4 The following functions can not be used in the AI High Precision Contour Control mode or AI NANO High Precision Contour Control mode.  Flexible synchronous control  Sequence number comparison and stop It is not possible to stop by the sequence number in the AI High Precision Contour
  • Page 261.4 Parameter Parameter 19511 Lower feedrate limit for the deceleration function based on the acceleration of AI High Precision Contour Control [Input type] Parameter input [Data type] 2-word type [Unit of data] mm/min, inch/min, degree/min (machine unit) [Minimum unit of data] Depend on the increme
  • Page 27#7 #6 #5 #4 #3 #2 #1 #0 19500 FNW [Input type] Parameter input [Data type] Bit #6 FNW Specifies whether the method of determining the feedrate based on the feedrate difference in look-ahead acceleration/deceleration before interpolation and the method of determining the feedrate based on the acceler
  • Page 28#7 #6 #5 #4 #3 #2 #1 #0 8451 NOF ZAG [Input type] Setting input [Data type] Bit #4 ZAG Specifies whether to perform the deceleration function (deceleration by Z-axis falling angle) based on cutting load of AI High Precision Contour Control. 0: Do not perform. 1: Perform. After setting 1 in this para
  • Page 298456 Override for area 2 in deceleration based on AI High Precision Contour Control cutting load 8457 Override for area 3 in deceleration based on AI High Precision Contour Control cutting load 8458 Override for area 4 in deceleration based on AI High Precision Contour Control cutting load [Input ty
  • Page 30#7 #6 #5 #4 #3 #2 #1 #0 8459 OVR [Input type] Parameter input [Data type] Bit #3 OVR In look-ahead acceleration/deceleration before interpolation and AI High Precision Contour Control : 0: Override is disabled for deceleration functions such as deceleration based on feedrate difference and decelerat
  • Page 318410 Allowable feedrate difference for corner deceleration based on the feedrate difference [Input type] Parameter input [Data type] 2-word axis [Valid data range] Valid range Increment system Unit IS-B IS-C Millimeter machine 1 mm/min 1 60000 ` 1 6000 ` Inch macine 0.1 inch/min 1 60000 ` 1 6000 ` R
  • Page 328416 Acceleration change time of bell-shaped acceleration/deceleration before interpolation [Input type] Parameter input [Data type] 2-word type [Unit of data] msec [Valid data range] 0 - 200 This parameter sets the acceleration change period in bell-shaped acceleration/deceleration before interpola
  • Page 3319510 Parameter 2 for determining a linear acceleration/deceleration before interpolation [Input type] Parameter input [Data type] word type [Unit of data] msec [Valid data range] 0 - 1000 This parameter specifies the time required until the speed specified n parameter 1(No.8400) is achieved. When t
  • Page 341.5 The Function list which can be used Item Specifications Note Axis control Controlled axes 3 axes Controlled paths 1-path Simultaneously controlled axes 2 axes Controlled axis expansion Up to 8 axes Simultaneously controlled axis Up to 6 axes expansion Axis control by PMC The axis which is used i
  • Page 35Item Specifications Note Operation Automatic operation MDI operation The AI high precision contour control mode or the AI NANO high precision contour control mode is automatically canceled once and the buffering is inhibited if the MDI operation is used in the AI high Precision Contour Control mode
  • Page 36Item Specifications Note Feed functions F1 digit feed Using the manual pulse generator can not change Feedrate. Inverse time feed G93 External deceleration Look ahead liner-type acceleration/ deceleration before interpolation. Look ahead Bell-type acceleration/ Acceleration change time constant dece
  • Page 37Item Specifications Note Miscellaneous/spindle functions Miscellaneous function The AI high precision contour control mode or the AI NANO high precision contour control mode is automatically canceled once and the buffering is inhibited if this function is used in the AI high Precision Contour Contro