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FS 16i/18i/21i-MA/MB, FS 16/18-MC, Improvement of Setting Rotation Axis with Rotary Scale Supplement to Manual Page 2

Supplement to Manual
Outline
In case that it is set rotation axis (B type) in rotation axis with scale, scale data must be
continuous in motion range. But in case of rotary scale which has no data of revolution,
there is a discontinuous point of scale data. In order to set rotation axis (B type), scale
must be attached to set discontinuous point outside of motion range. By this
improvement , setting rotation axis (B type) is available when discontinuous point of
scale data exists in motion range
Details
For example, we consider the case that rotation axis (B type) is set with rotary scale
which has no data of revolution and whose data changes from 0 to 360000. When
machine zero point of rotation axis equals zero point of scale data and motion range is
from –45.000 to 45.000 on machine coordinate, scale data is discontinuous, such as 0
to 45000 and 315000 to 359999. Up to now, if scale data is 315000 to 359999, machine
coordinate is also 315.000 to 359.999, so setting rotation axis (B type) is unavailable.
Now, if scale data is 315000 to 359999, scale data is transformed to -45000 to -1, by
subtracting value, corresponding to one revolution ( in this case: 360000), from scale
data. So it is improved that setting rotation axis (B type) is available by transforming
scale data to continuous data, -45000 to 45000. This transformation is executed when
scale data is larger than threshold (parameter No.1867 or 1868). Please set threshold
with In figure 1, threshold is set to 180000.
Scale data = 0
Machine coordinate = 0.000
(Discontinuous point of scale data)
Scale data = 315000
Machine coordinate = -45.000
Scale data = 45000
Machine coordinate = 45.000
Threshold (Scale data = 60000 in “case1” and “case4”,
= 300000 in “case 2” and “case 3”)
Be sure to assign scale data outside of motion range
In threshold (parameter No.1867 or 1868).
Motion range of rotation axis
Range of transforming scale data
In this case, scale data, 60001 to 359999, are
transformed to –179999 to –1.
+ direction
#2
Figure 1. Image of transforming scale data
A-78734EN
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Sheet
Title
Draw
No.
Date
Design
Description
Date
FANUC Series 16i /18i /21i - MA/MB, 16 /18 -MC
Improvement of setting rotation axis
with rotary scale
2002/02/15
01 2002/02/15 O.Abe Newly registered
2/6
02 2002/05/28 O.Abe Out of frame #1 are altered
03 2002/08/11 Out of frame #2 are altered
O.Abe
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Contents Summary of FS 16i/18i/21i-MA/MB, FS 16/18-MC, Improvement of Setting Rotation Axis with Rotary Scale Supplement to Manual

  • Page 1FANUC Series 16i /18i /21i –MA/MB FANUC Series 16 /18 –MC Improvement of Setting rotation axis with rotary scale FANUC Series 16i /18i /21i - MA/MB, 16 /18 -MC Title Improvement of setting rotation axis with rotary scale Draw 03 2002/08/11 Out of frame #2 are altered No. A-78734EN 02 2002/05/28 O.Ab
  • Page 2Outline In case that it is set rotation axis (B type) in rotation axis with scale, scale data must be continuous in motion range. But in case of rotary scale which has no data of revolution, there is a discontinuous point of scale data. In order to set rotation axis (B type), scale must be attached
  • Page 3Machine coordinate = 0.000 Scale data = 355000 Scale data = 85000 Machine coordinate = 45.000 Machine coordinate = -45.000 scale data = 0 discontinous point of scale data Range of transforming scale data In this case, scale data, 100001 to 359999, are transformed to –259999 to –1. + direction Motion
  • Page 4Machine coordinate = 0.000 Scale data = 5000 Scale data = 95000 Machine coordinate = 45.000 Machine coordinate = -45.000 scale data = 0 discontinous point of scale data Range of transforming scale data In this case, scale data, 110001 to 359999, are transformed to –249999 to –1. + direction Motion r
  • Page 5NOTE: The servo software reverses scale data depending to the following parameter setting. PRM2018#0 PRM2022 Scale data Case 1 0 111 Not reversed Case 2 0 -111 Reversed Case 3 1 111 Reversed Case 4 1 -111 Not reversed In “case 2” and “case 3”, please assign the threshold as the following example of
  • Page 6Figure 4 “Case 1” and “Case 4” Assuming tolerance of +- 15 degree for location of discontinuous point of scale data, setting of amount P1867/P1868 must satisfy condition Amount P1867/P1868 > 110000 “Case 2” and “Case 3” Assuming tolerance of +- 15 degree for location of discontinuous point of scale
  • Page 7Parameters #7 #6 #5 #4 #3 #2 #1 #0 1817 SCR [Data type] Bit axis SCR In order to set rotation axis (B type) in rotation axis with rotary scale which has no data of revolution, scale data is 0: not transformed. 1: transformed. NOTE When this parameter is set, power must be turned off before operation
  • Page 8NOTE When this parameter is set, power must be turned off before operation is continued. This parameter does not exist in FANUC Series 16i /18i /21i –MA, so please assign the threshold in the parameter No.1867. P1867 is effective only for axes in which P1817#3 is set to 1. FANUC Series 16i /18i /21i