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FS 16i/18i/21i-MA/MB, FS 16/18-MC, Improvement of Setting Rotation Axis with Rotary Scale Supplement to Manual Page 4

Supplement to Manual
Figure 4. Image of transforming scale data
+ direction
Motion range of rotation axis
Scale data = 95000
Machine coordinate = 45.000
Scale data = 5000
Machine coordinate = -45.000
Range of transforming scale data
In this case, scale data, 110001 to 359999, are
transformed to –249999 to –1.
Machine coordinate = 0.000
scale data = 0
discontinous point of scale data
Threshold (Scale data = 110000 in “case1” and “case4”,
= 250000 in “case 2” and “case 3”)
Be sure to assign scale data outside of motion range
In threshold (parameter No.1867 or 1868).
#2
A-78734EN
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Draw
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Date
Design
Description
Date
FANUC Series 16i /18i /21i - MA/MB, 16 /18 -MC
Improvement of setting rotation axis
with rotary scale
2002/02/15
01 2002/02/15 O.Abe Newly registered
4/6
02 2002/05/28 O.Abe Out of frame #1 are altered
03 2002/08/11 Out of frame #2 are altered
O.Abe
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Contents Summary of FS 16i/18i/21i-MA/MB, FS 16/18-MC, Improvement of Setting Rotation Axis with Rotary Scale Supplement to Manual

  • Page 1FANUC Series 16i /18i /21i –MA/MB FANUC Series 16 /18 –MC Improvement of Setting rotation axis with rotary scale FANUC Series 16i /18i /21i - MA/MB, 16 /18 -MC Title Improvement of setting rotation axis with rotary scale Draw 03 2002/08/11 Out of frame #2 are altered No. A-78734EN 02 2002/05/28 O.Ab
  • Page 2Outline In case that it is set rotation axis (B type) in rotation axis with scale, scale data must be continuous in motion range. But in case of rotary scale which has no data of revolution, there is a discontinuous point of scale data. In order to set rotation axis (B type), scale must be attached
  • Page 3Machine coordinate = 0.000 Scale data = 355000 Scale data = 85000 Machine coordinate = 45.000 Machine coordinate = -45.000 scale data = 0 discontinous point of scale data Range of transforming scale data In this case, scale data, 100001 to 359999, are transformed to –259999 to –1. + direction Motion
  • Page 4Machine coordinate = 0.000 Scale data = 5000 Scale data = 95000 Machine coordinate = 45.000 Machine coordinate = -45.000 scale data = 0 discontinous point of scale data Range of transforming scale data In this case, scale data, 110001 to 359999, are transformed to –249999 to –1. + direction Motion r
  • Page 5NOTE: The servo software reverses scale data depending to the following parameter setting. PRM2018#0 PRM2022 Scale data Case 1 0 111 Not reversed Case 2 0 -111 Reversed Case 3 1 111 Reversed Case 4 1 -111 Not reversed In “case 2” and “case 3”, please assign the threshold as the following example of
  • Page 6Figure 4 “Case 1” and “Case 4” Assuming tolerance of +- 15 degree for location of discontinuous point of scale data, setting of amount P1867/P1868 must satisfy condition Amount P1867/P1868 > 110000 “Case 2” and “Case 3” Assuming tolerance of +- 15 degree for location of discontinuous point of scale
  • Page 7Parameters #7 #6 #5 #4 #3 #2 #1 #0 1817 SCR [Data type] Bit axis SCR In order to set rotation axis (B type) in rotation axis with rotary scale which has no data of revolution, scale data is 0: not transformed. 1: transformed. NOTE When this parameter is set, power must be turned off before operation
  • Page 8NOTE When this parameter is set, power must be turned off before operation is continued. This parameter does not exist in FANUC Series 16i /18i /21i –MA, so please assign the threshold in the parameter No.1867. P1867 is effective only for axes in which P1817#3 is set to 1. FANUC Series 16i /18i /21i