A-78640E
Sheet
Title
Draw
No.
04 Feb.08.’03 Part of (4) is added or modified. Addition of 2.16.5
03 Jul.02.’02 A. Fukumoto Part of (3) is added or modified. T.Endo
02 May.13.’02 A. Fukumoto Addition of Tool Radius control for 5-axis machining etc T.Endo
Ed. Date Design Description
Date Jan.25.’02 Desig. A.Fukumoto Apprv. T.Endo
FANUC Series 16i /18i -TB
Specifications of AI High-Precision Contour Control /
I Nano High-Precision Contour control
164/190
Linear acc/deceleration
Bell-shaped acc/deceleration
ta Optimum inclination is automatically
calculated based on the value set in
parameter No. 19510.
tb Time constant of bell-shaped
acc/deceleration
tc Acc/decelerating time of bell-
shaped acc/deceleration.
tc = ta + tb
“ta” depends at not constancy but the
instruction speed.
tb is constant.
8416
The time required to the maximum acceleration in advanced preview bell–
shaped acceleration/deceleration before interpolation
[Data type] 2-word
[Unit of data] 1ms
[Valid data range] 0 to 200
The “tb” of the figure below is set in this parameter. It becomes a linear acc/deceleration before
interpolation when “0” is set.
tb
cceleration
Time
tb
ta
tc
tbtb
ta
tc
Speed
Time
tb
tb
ta
tc
tb
tb
ta
tc