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FANUC Series16i/160i-LB, Gap Control Axis High-Speed Approach Function, Specification Additional Manual Page 5

Additional Manual
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FANUC Series 16i/160i -LB
Gap control axis high-speed approach function
A – 78797E
02.05.06
Contents
Date
Design
M.Sato
Title
Drawing
Page
04 2004.07.29 M.Sato NPDS signal has been added.
03 2004.05.20 M.Sato All pages has been changed.
02 2002.09.03 M.Sato Page 7 Error in writing correction
The gap control axis immediately stops without deceleration when the pierce point signal is
set to 1.
So, setting the piercing point signal to 1 with the axis moving at high speed might cause
shock in the machine.
Please slow down the gap control axis by using the deceleration beginning signal (* APDEC)
before using the pierce point signal.
Please determine the input timing of the pierce point signal so that the axis stops before
approach end. Especially, the axis does not stop immediately and moves for some distance
even if inputting the signal. So, please do not stop the axis within the approach completion
range with adjusting the distance.
- Gap deflection
"Gap deflection" used in this specifications is equal to the distance from the movement target
position of the gap control axis.
The gap control axis is controlled to move at the speed proportional to the gap deflection in
the direction where the gap deflection decreases.
The zero point of the gap deflection is usually the point of gap sensor output zero voltage and
can be shifted by the reference displacement (PRM No.15530).
A gap sensor has a detection range and the range determines maximum gap deflection.
The deceleration starting point must be located within the maximum deflection.
In addition, shifting zero point by reference displacement causes becoming the maximum gap
deflection smaller in comparison with the maximum sensor output.
The maximum speed of high-speed approach depends on the maximum gap deflection
because the laser nozzle touches the work-piece if the gap control axis cannot stop within the
deflection range.
Gap deflection ＝ΔE－E0
ΔE＝（Ke×E－Ezr）×Emul
ΔE ：Calculated deflection
Ke ：Detection gain coefficient（PRM No.15500）
E ： The data from gap sensor with converted from analog to digital
Ezr ：Detection zero point（PRM No.15502）
Emul ：Displacement multiplier（PRM No.15504）
Eo ：Reference displacement（PRM No.15530）
Please refer to the connecting manual (B-63663) for detailed explanations about the gap
deflection and the reference displacement etc.
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Contents Summary of FANUC Series16i/160i-LB, Gap Control Axis High-Speed Approach Function, Specification Additional Manual

  • Page 1FANUC Series16i/160i-LB Gap control axis high-speed approach function Specification Copyright  2004 FANUC LTD. FANUC Series 16i/160i -LB Title Gap control axis high-speed approach function 04 2004.07.29 M.Sato NPDS signal has been added. Drawing A – 78797E 03 2004.05.20 M.Sato All pages has been ch
  • Page 2Outline The approach speed of the gap control function is controlled according to the value multiplied the gap control gain and the gap deflection. The larger the gap control gain is set, the faster the approach speed is and the shorter the approach time is. However, raising the gap control gain too
  • Page 3- High-speed approach operation The approach operation when the gap control axis high-speed approach function is effective is as follows. (1) When the gap control is started, the gap control axis starts the approach operation at the approach speed (PRM No.15845). Please set the acceleration time con
  • Page 4Operation at Pierce point The gap control axis can be stopped at an arbitrary position to pierce a hole while approaching. The procedure is explained with using the following example part program. (1) Specify PRM No.15840#4(LPP) for 1 and specify Pierce point stop signal (NPDS) for 1, and this opera
  • Page 5The gap control axis immediately stops without deceleration when the pierce point signal is set to 1. So, setting the piercing point signal to 1 with the axis moving at high speed might cause shock in the machine. Please slow down the gap control axis by using the deceleration beginning signal (* AP
  • Page 6Signals - Deceleration starting signal *APDEC [Classification] Input signal (High-speed DI interface) [Function] This signal makes the approach speed shift from the parameter value to the value calculated by gap control. The high-speed approach operation is ended and the gap control axis start
  • Page 7- Deceleration request receive signal NPDS [Classification] Input signal [Function] This signal notifies admitted input of Pierce point signal (LPP) to PMC. [Operation] The gap control axis is stopped if Pierce point signal is input when this signal is 1. The Pierce point signal is not acce
  • Page 8Parameter #7 #6 #5 #4 #3 #2 #1 #0 15840 LPP GDS TRB [Data type] Bit TRB Specify whether Gap control B function are enabled or disabled. 0: Disabled 1: Enabled GDS Specify the method of commanding the deceleration start of the gap control axis in the gap control axis high-speed approach function. 0:
  • Page 915847 Deceleration time constant [Data type] Word axis [Unit of data] msec [Valid data range] 0 to 32767 Specify the time from the approach speed to the stop.. Setting too large value to this parameter might cause touching the gap control axis to work-piece. Please be careful in case of changing thi
  • Page 1015855 Acceleration limit at approaching [Data type] Word axis [Unit of data] 0.1m/min2 [Valid data range] 0 to 32767 Specify the limit of acceleration for gap control speed. The servo over-current alarm may occur at gap control start, because the gap control axis starts without time constant of acce