FS 16i/18i/21i-MA/MB, FS 16/18-MC, Improvement of Setting Rotation Axis with Rotary Scale Supplement to Manual Page 7
Supplement to Manual
Parameters
#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 is
continued.
Never set this parameter when rotation axis (B type) is not set, or when
discontinuous point of scale data does not exist in motion range.
1867 Threshold for transforming scale data (for all axes)
[Data type] 2-word
[Unit of data]
Increment system Unit of data
IS-A 0.01 deg
IS-B 0.001 deg
IS-C 0.0001 deg
#1
[Valid data range] 0 to 99999999
When scale data is larger than this parameter, scale data is transformed to continuous
data by subtracting value, corresponding to one rotation, from scale data. Be sure to
assign scale data outside of motion range in this parameter.
This parameter is for all axes and not effective in axis, in which parameter No.1868 is
set to a non-zero value.
NOTE
When this parameter is set, power must be turned off before operation is
continued.
P1867 is effective only for axes in which P1817#3 is set to 1.
1868 Threshold for transforming scale data (for each axis)
[Data type] 2-word axis
[Unit of data]
Increment system Unit of data
IS-A 0.01 deg
IS-B 0.001 deg
IS-C 0.0001 deg
#1
[Valid data range] 0 to 99999999
When scale data is larger than this parameter, scale data is transformed to continuous
data by subtracting value, corresponding to one rotation, from scale data. Be sure to
assign scale data outside of motion range in this parameter.
The parameter No.1867 is effective in axis, in which this parameter is set to 0.
A-78734EN
Edit
Apprv.
Desig.
Sheet
Title
Draw
No.
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
7/6
02 2002/05/28 O.Abe Out of frame #1 are altered
03 2002/08/11 Out of frame #2 are altered
O.Abe
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