Improvement for Rotary Axis Control Additional Manual Page 2
Additional Manual
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FANUC Series16i /18i /21i-MA
Improvement for Rotary Axis Control
A-77975
1999.10.16
2000.1.17 (2) is added.02
1. Outline
The rotation speed of the rotation axis is assumed to be a movement speed on a
virtual radius.
2. Specification
In linear interpolation with a linear axis and the rotary axis, the movement angle 1
degree of the rotary axis is interpolated as moved distance 1 mm (1inch at inch
input) (Refer to the operator’s manual 4.3 linear interpolation for details. Moreover,
the movement time is presented as follows.).
Speed of linear axis (X axis)
()
min/mmX
L
X
FF
∆
×=
Speed of rotary axis (C axis)
()
mindeg/
L
C
FF
C
∆
×=
Synthetic moved distance
22222
CBZYXL
∆+∆+∆+∆+∆=
Movement time
F
L
T
=
In this function, the synthetic moved distance is obtained based on the moved
distance of the rotary axis which is made from commanded angle and virtual radius
(parameter No.1465).
Speed of linear axis (X axis)
()
min/mmX
L
X
FF
′
∆
×=
Speed of rotary axis (C axis)
()
mindeg/
L
C
FF
C
′
∆
×=
Synthetic moved distance
2
2
222
180180
∆××
+
∆××
+∆+∆+∆=
′
Cl
Bl
ZYXL
C
B
π
π
Movement time
F
L
T
′
=
′
B
l
,
c
l
: virtual radius (parameter No.1465)
By this, a movement speed on a virtual circle becomes to a commanded feedrate.
< Please refer to Example 1. >
Contents Summary of Improvement for Rotary Axis Control Additional Manual
- Page 1FANUC Series 16i /18i /21i –MA Specification Improvement for Rotary Axis Control Index 1. Outline 2 2. Specification 2 2.1 Cutting feed speed 3 2.2 For 0mm in virtual radius 3 3. Parameter 6 4. Note 7 Title FANUC Series16i /18i /21i-MA Improvement for Rotary Axis Control Draw No. A-77975 02 2000.1.1
- Page 21. Outline The rotation speed of the rotation axis is assumed to be a movement speed on a virtual radius. 2. Specification In linear interpolation with a linear axis and the rotary axis, the movement angle 1 degree of the rotary axis is interpolated as moved distance 1 mm (1inch at inch input) (Refe
- Page 32.1 Cutting feed speed In this function, the speed of the axis becomes L / L ′ times for the feedrate displayed on the CNC screen from the difference of the method of obtaining moved distance. Especially, the movement of the axis quickens when a small value is set to a virtual radius. Therefore, ple
- Page 4< Example 1 > When instructing as follows on IS-B unit, G91 G01 C10. F10. ; (1) The calculation is as follows, when 10000(10mm) is set in a virtual radius (parameter No.1465). π × 10 ( mm ) × 10 (deg) 2 π × l C × ∆B 2 L′ = = = 1.7453292 ⋅ ⋅ ⋅( mm ) 180 180 10 (deg) FC = 10
- Page 5Rotation speed when 10mm setting. (1) Instruction speed. F=10mm/min Rotation speed when 36mm setting. (2) 10mm 36mm Figure 1 < Example 2 > On the machine which the direction of the tool changes by the rotation axis like figure, the movement speed of a standard point can be assumed to be instruction
- Page 63. Parameter 1408 RFDx [ Data type ] Bit axis RFDx In a linear interpolation, the rotation speed of the rotary axis is assumed to be a movement speed in a virtual radius. 0 : Disable 1 : Enable 1465 Virtual radius of sending speed control of rotary axis [ Data type ] 2 - word axis [ Unit of data ] I
- Page 74. Note (1) When parameter ROTx (No.1006#0) and RFDx (No.1408#0) are 1, this function becomes effective. (2) Parameter RFDx (No.1408#0) and a virtual radius parameter (No.1465) can be rewrote by G10. (3) The rotary axis moves at the maximum cutting feedrate when only rotary axis is commanded in case