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

B-63324EN/03 PROGRAMMING 16.MEASUREMENT FUNCTIOM
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CNC position when the torque limit is reached is point B.
Then, when torque limit skip is performed, the error is (A -
B).
- Torque limit command
If a torque limit skip command specifies no torque limit override value
in address Q, and no torque limit is specified using the PMC window, a
PS alarm (PS151) is output.
No torque limit is specified when a torque limit override value of 0% or
100% is specified.
When a block containing a torque limit skip command specifies no
torque limit override value in address Q, specify a torque limit as coded
in the following program :
(Sample program)
O0012
:
Mxx (Specify a torque limit in the PMC window.)
:
G31 P99 X200. F100. (Torque limit skip command)
:
G01 X100. F500. (Move command with the torque limit imposed)
:
Myy (The torque limit is cleared by the PMC)
:
M30
- Positional deviation limit when a torque limit is specified
During torque limit command execution, a positional deviation limit
check based on the setting of parameter No. 1828 or No. 1829 is not
made. Instead, a positional deviation limit check is made with the
setting of parameter No. 1843. When a positional deviation limit is
exceeded, an SV alarm (SV0109) is output to stop the machine
immediately.
- Custom macro variables
When a torque limit skip command is issued, the custom macro
variables (#5061 to #5080 : Skip signal positions; #100151 to
#100174 are used for a system with 20 axes or more) hold the
coordinates at the time of skip termination. When skip operation is
actually performed, a servo system delay arises between the machine
position and current CNC position. This error can be determined from
the servo positional deviation value. By setting bit 1 (TSE) of
parameter No. 7203, the user can choose whether the skip signal
position data held in the system variables represents a position that

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