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

B-63324EN/03 PROGRAMMING 4.INTERPOLATION FUNCTIONS
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4.17.1 NURBS Interpolation Additional Functions
The functions below are added to NURBS interpolation of the FANUC
Series 15i.
- Parametric feedrate control
The maximum feedrate of each segment is determined by a specified
feedrate and acceleration value. For successive segments, a feedrate at
a segment start point and a feedrate at a segment end point are
determined as described below. Then, the feedrate changes
successively during movement from the start point to the end point.
This function is applicable only to NURBS interpolation when bit 5
(FDI) of parameter No. 8412 is set to 1.
1. Start point feedrate
(1) When NURBS interpolation is started
When the travel distance of the previous block is 0, the
maximum feedrate of the first segment is the start point
feedrate. When the travel distance of the previous block is
not 0, the smaller of the specified feedrate of the previous
block and the maximum feedrate of the first segment is the
start point feedrate.
Previous block: Block immediately before a NURBS
interpolation specification block
(2) Second segment and up
The smaller of the maximum feedrate of the previous
segment and the maximum feedrate of this segment is the
start point feedrate.
2. End point feedrate
(1) When the segment is not the last segment
The smaller of the maximum feedrate of this segment and
the maximum feedrate of the next segment is the end point
feedrate.
(2) When NURBS interpolation is terminated
When the travel distance of the next block is 0, the
maximum feedrate of this segment is the end point feedrate.
When the travel distance of the next block is not 0, the
smaller of the maximum feedrate of this segment and the
specified feedrate of the next block is the end point feedrate.
As the start point feedrate for restarting after a single block stop, the
maximum feedrate of this segment is used.
As the feedrate for restarting after a feed hold stop, the feedrate present
at the time of the feed hold stop is used.
Example:
1. Specified program
G90 G06.2 X0. Y0. K0. F2000 ;
X10. Y10. K0. F1500 ;
X20. Y20. K0. F1800 ;
X30. Y30. K0. ;
X40. Y40. K1.

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