Fanuc Power Mate i-D/H Operator Manual

B–63174EN/03
D. NOMOGRAPHS
APPENDIX
591
Y
0
X
0
V
0
Fig.D.1 (c) Initial value
The initial value when cornering begins, that is, the X and Y coordinates
at the end of command distribution by the controller, is determined by the
feedrate and the positioning system time constant of the servo motor.
X
0
V
X1
(T
1
T
2
)
Y
0
V
Y1
(T
1
T
2
)
T
1
: Exponential acceleration / deceleration time constant. (T=0)
T
2
: Time constant of positioning system (Inverse of position loop gain)
The equations below represent the feedrate for the corner section in
X–axis direction and Y–axis direction.
V
X
(t) (V
X2
–V
X1
)[1
V
X1
T
1
–T
2
{T
1
exp(
t
T
1
)–T
2
exp(
t
T
2
)} V
X1
]
V
X2
[1
V
X1
T
1
–T
2
{T
1
exp(
t
T
1
)–T
2
exp(
t
T
2
)}]
V
Y
(t)
V
Y1
–V
Y2
T
1
–T
2
{T
1
exp(
t
T
1
)–T
2
exp(
t
T
2
)} V
Y2
Therefore, the coordinates of the tool path at time t are calculated from the
following equations:
X(t)
t
0
V
X
(t)dt–X
0
V
X2
–V
X1
T
1
–T
2
{T
1
2
exp(
t
T
1
)–T
2
2
exp(
t
T
2
)}–V
X2
(T
1
T
2
–t)
Y(t)
t
0
V
Y
(t)dt–Y
0
V
Y2
–V
Y1
T
1
–T
2
{T
1
2
exp(
t
T
1
)–T
2
2
exp(
t
T
2
)}–V
Y2
(T
1
T
2
–t)
Initial value calculation
Analysis of corner tool
path

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