FANUC Series 16i/18i-MA/TA Bidrectional pitch error compensation function Additional Manual Page 3
Additional Manual
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FANUC Series 16i/18i-MA
FANUC Series 16i/18i-TA
Bidirectional pitch error compensation
A-77810E
Drawing No.
Title
Page
02 99/07/19 N.Aizawa Modified
p
a
g
e10-14
03 00/04/28
Added T series, Modified page10
Date Design
Descri
p
tion
Date
1999/06/23
Design
N.Aizawa
Approv
E.Genma
1. Outline
In bidirectional pitch error compensation, different pitch error compensation amounts can
be set for travel in the positive direction and that in the negative direction, so that pitch
error compensation can be performed differently in the two directions, in contrast to
stored pitch error compensation, which does not distinguish between the directions of
travel. In addition, when the direction of travel is reversed, the compensation amount is
automatically calculated from the pitch error compensation data to perform compensation
in the same way as in backlash compensation. This reduces the difference between the
paths in the positive and negative directions.
2. Setting data
1. Setting parameters
Set the following parameters for each axis.
Table (a)
Data number Description
3605#0 Bidirectional pitch error compensation, 1: Enabled / 0: Disabled
3620 Number of the pitch error compensation point of the reference
position
3621 Number of the most distant pitch error compensation point on the
- side for travel in the positive direction
3622 Number of the most distant pitch error compensation point on the
+ side for travel in the positive direction
3623 Pitch error compensation magnification
3624 Pitch error compensation point interval
3625 For a rotation axis, amount of travel per rotation in pitch error
compensation
3626 Number of the most distant pitch error compensation point on the
- side for travel in the negative direction
3627 Pitch error compensation amount (absolute value) at the
reference position when the machine moves to the reference
position in the direction opposite to that of a reference position
return
2. Pitch error compensation data
The compensation point numbers can be from 0 to 1023 and from 3000 to 4023.
This data may be used for both the positive and negative directions. Note, however,
that the set of compensation data for a given axis cannot extend over 1023 and
3000.
Contents Summary of FANUC Series 16i/18i-MA/TA Bidrectional pitch error compensation function Additional Manual
- Page 1TECHNICAL REPORT (MANUAL) TMN00/072 Date: May 9, 2000 General Manager of Software Laboratory FANUC Series 16i/18i–MA/TA Bidirectional pitch error compensation function 1. Communicate this report to: •Your information • •GE Fanuc-N, GE Fanuc-E •FANUC Robotics •CINCINNATI MILACRON • •Machine tool buil
- Page 2FANUC Series 16i/18i-MA FANUC Series 16i/18i-TA Bidirectional pitch error compensation Specifications Contents 1. OUTLINE ..........................................................................................................2 2. SETTING DATA ......................................................
- Page 31. Outline In bidirectional pitch error compensation, different pitch error compensation amounts can be set for travel in the positive direction and that in the negative direction, so that pitch error compensation can be performed differently in the two directions, in contrast to stored pitch error
- Page 4Parameter No.3621 Parameter No.3622 ↓ ↓ Set of pitch error compensation data for Set of n data items the positive direction. Parameter No.3626 ↓ Set of pitch error compensation data Set of n data items for the negative direction. ↑ The pitch error compensation data numbers in this range are from 0 t
- Page 5Table (b) Positive-direction pitch error data Compensation point number 20 21 22 23 24 25 26 27 Compensation amount to be -1 +1 0 +1 +1 +2 -1 -1 set As pitch error data, always set incremental values as viewed in the negative direction (direction toward the left in Fig. (b)). Table (c) Negative-dire
- Page 64. Compensation example If, in the setting example given in the previous section, the machine moves from 0.0 to 40.0, from 40.0 to -40.0, and from -40.0 to 0.0 for a manual reference position return, pitch error compensation pulses are output as follows: Machine coordinate 0.0 5.0 15.0 25.0 35.0 40.
- Page 7When the travel direction changes from negative to positive at the position of -40.0, the compensation for the reverse of the travel direction is output. A pulse of -2 is the result of the following calculation: -2 = - ( ( -1 ) - ( -3 ) ) Pitch error associated with the negative-direction absolute v
- Page 83621 Number of the pitch error compensation position at extremely negative position for each axis (In case of positive-direction movement) Data type : Word axis Unit of data : Number Valid range : 0 to 1023, 3000 to 4023 Set the number of the pitch error compensation position at the extremely negati
- Page 93624 Interval between pitch error compensation positions for each axis Data type : 2-word axis Unit of data : Increment system IS-A IS-B IS-C Unit Millimeter machine 0.01 0.001 0.0001 mm Inch machine 0.001 0.0001 0.00001 Inch Rotation axis 0.01 0.001 0.0001 deg Valid range : 0 to 99999999 The pitch
- Page 10The angular displacement per rotation, compensation interval, and number of compensation points must satisfy the following equation: Angular displacement per rotation = compensation interval x number of compensation points The sum of the compensation values per rotation must always be 0. When this p
- Page 11NOTE When this parameter is set, the power must be turned off before operation is continued. 6. Setting and displaying data All the compensation data can be displayed and set on the conventional screen for the pitch error compensation data. And those data can be input and output by the following met
- Page 12(7) The function cannot be used with the distance coded linear scale function. FANUC Series 16i/18i-MA Title FANUC Series 16i/18i-TA Bidirectional pitch error compensation Drawing No. A-77810E 03 00/04/28 Added T series, Modified page10 02 99/07/19 N.Aizawa Modified page10-14 Page Edit Date Design D