Fanuc Series 15i/150i-MA (Programming) Operators Manual

4.INTERPOLATION FUNCTIONS PROGRAMMING B-63324EN/03
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- Valid speed command range
An NUBRS curved line of rank n (degree (n-1)) that has m control
points includes (m - n + 1) segments. The speed command (address F)
for a block that ranges from the first control point to the (m-n+1)-th
control point applies to each segment.
If a speed is specified in a block containing the j-th control point, for
example, the specified speed applies to the NURBS segments starting
from that NUBRS segment generated by the j-th control point to (j+n-
1)-th control point.
Example) For an NUBRS curved line of rank 4 (degree 3)
G06.2 X @ Y @
K @ F1000 ; (First control point)
X @ Y @ K @ ; (Second control point)
X @ Y @
K @ F2000 ; (j-th control point)
X @ Y @ K @ ; ((j+1)-th control point)
X @ Y @ K @ ; ((j+2)-th control point)
X @ Y @ K @ ; ((j+3)-th control point)
Segment generated by the j-th
to (j+3)-th control points
j-th control point
(j+1)-th control point
(j+2)-th control point
(j+3)-th control point
The F2000 command is valid,
starting at this point.
Fig.4.17 (d) Valid Speed Command Range
- Automatic speed control
During NUBRS interpolation, automatic acceleration/deceleration
control is exercised according to the varying curvature of the NURBS
curved line so that acceleration on each axis does not exceed the
allowable acceleration limit specified by parameter No. 1663. (See
Fig.4.17 (e) j
Path
Speed
Fig.4.17 (e) Speed Determination Based on Acceleration

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