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

D.NOMOGRAPHS APPENDIX B-63324EN/03
- 774 -
- Initial value calculation
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.
)TT(VX
211X0
+=
)TT(VY
211Y0
+=
T
1
: Exponential acceleration/deceleration time constant.
(T=0)
T
2
: Time constant of positioning system (Inverse of
position loop gain)
- Analysis of corner tool path
The equations below represent the feedrate for the corner section in
X-axis direction and Y-axis direction.
+
=
1X
V
2
T
t
exp
2
T
1
T
t
exp
1
T
2
T
1
T
1X
V
1)
1X
V
2X
V()t(
X
V
=
2
T
t
exp
2
T
1
T
t
exp
1
T
2
T
1
T
1X
V
1
2X
V
1Y
V
2
T
t
exp
2
T
1
T
t
exp
1
T
2
T
1
T
2Y
V
1Y
V
)t(
Y
V +
=
Therefore, the coordinates of the tool path at time t are calculated from
the following equations:
=
1
0
0
Xdt)t(
X
V)t(X
()
t
2
T
1
T
2X
V
2
T
t
exp
2
2
T
1
T
t
exp
2
1
T
2
T
1
T
1X
V
2X
V
+
=
=
1
0
0
Ydt)t(
Y
V)t(Y
()
t
2
T
1
T
2Y
V
2
T
t
exp
2
2
T
1
T
t
exp
2
1
T
2
T
1
T
1Y
V
2Y
V
+
=
Fig. D.3(c) Initial value
Y0
X0
V
0

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