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

B-63324EN/03 PROGRAMMING 19.AXIS CONTROL FUNCTIONS
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- Amounts of travel on parallel axes
The amounts of travel on parallel axes differ depending on whether the
command is incremental or absolute.
(1) For an incremental command
- Rapid traverse and linear interpolation
The amounts of travel on all parallel axes are the same.
- Circular interpolation and helical interpolation
The amounts of travel on all parallel axes are the same.
Thus, interpolation is performed on the same, multiple arcs at
the same time.
(2) For an absolute command
- Rapid traverse and linear interpolation
The absolute coordinates of the end points on all parallel
axes are the same.
Thus, if the start positions differ, the amounts of travel on the
parallel axes differ.
- Circular interpolation and helical interpolation
Interpolation is performed using the data for the controlled
axis having the smallest number that is not parked. The same
data as that resulting from interpolation is output for the
other parallel axes.
Thus, even for an absolute command, if the start positions on
the other axes differ from that on the axis for which
interpolation is performed, the tool moves to positions other
than the specified end points.
- Calculation of the feedrate
In linear interpolation, the feedrate of parallel operation is calculated
from the data of the axis along which the largest movement is made of
all control axes. The data of the other axes is not reflected in the
calculation of the feedrate.
(Example)For parallel X axes X
1
and X
2
,
Start positions
X
1
: 0.0
X
2
: 5.0
Y : 0.0
Command
G01 G90 X10. Y20. F500
The amount of travel on X
1
is 10.0 and that on X
2
is 5.0. Thus, using the
greater amount of travel on X
1
, the feedrate is calculated as follows:
Let
20201010L +=
then the feedrate on each axis is:
X
1
:500 * 10 / L
X
2
:500 * 5 / L
Y :500 * 20 / L

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