TITLE
er
es

,

AI contour control function
Specifications
EDIT. DATE DESIG. DESCRIPTION
FANUC LTD
SHEET
9/ 32
DRAW. NO.
A63512EN
CUST.
2.6 Feedrate clamp based on arc radius
In order that the acceleration in a circular interpolation block must become a permissible value,
the maximum permissible feedrate v for the programmed circle radius r is calculated from the
maximum permissible feedrate V (parameter setting) in radius R as follows. When the
specified feedrate exceeds the calculated feedrate v, the feedrate is clamped automatically at
the calculated feedrate v.
Maximum permissible acceleration =
V
R
2
R : Circle radius V : Feedrate in circle radius R
The maximum permissible feedrate v for the programmed circle radius r is obtained in the
following expressions.
v =
r
R
V
(Note) The maximum permissible feedrate v lowers as the circle radius becomes small. When
the calculated feedrate is lower than the parameter setting value (No.1732), the
maximum permissible feedrate v will be assumed to be the parameter setting value
(No.1732).
2.7 Rapid traverse
The rapid traverse accelerates by linear acceleration / deceleration before interpolation and the
movement is a linear interpolation type positioning. The feedrate at movement is calculated
from the parameter No.1420 (Rapid traverse rate for each axis) and the acceleration for linear
acceleration / deceleration before interpolation is calculated from the parameter No.1420
(Rapid traverse rate for each axis) and No.1620 (Time constant in linear acceleration /
deceleration in rapid traverse for each axis) as follows.
Feedrate at movement
The smallest value of the following expressions among the moving axes is assumed to be
the feedrate at movement.
rapid traverse rate for each axis (No.1420)
distance of block
distance of each axis
Acceleration for linear acceleration / deceleration before interpolation
In case of linear type acceleration / deceleration
The smallest value of the following expressions among the moving axes is assumed to be
the acceleration for linear acceleration / deceleration before interpolation.
rapid traverse rate for each axis (No.1420)
time constant for each axis (No.1620)
distance of block
distance of each axis