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FS 16i/18i/21i-MA/MB, FS 18i-MB5 Additional Manual Page 5

Additional Manual
1.1. In the case of a rotary axis B type whose movable range is under one rotation
In the case of a rotary axis whose movable range is under one rotation, it is possible
to know its position under one rotation, even if a rotary scale without rotary data (the
number of rotation) is used.
The scale data is required to be continuous in movable range of rotary axis in order to
detect its position, but such a scale always has a point where scale data is not
continuous. By the following parameters No.1817#3 and No.1867 (or No.1868), it is
possible to set a rotary axis B type even if an uncontinuous point of scale data is in
movable range.
(Example)
scale data = 320000
machine position = 0.000
scale data = 0 (an uncontinuous point）
machine positon = 40.000
positive direction
movable range of rotary axis
scale data = 5000
machine position = 45.000
scale data = 275000
machine position = -45.000
range where scale data is converted
in this case, scale data (10001~359999) is
converted to data ( -349999~ -1)
threshold (an angle from an uncontinuous point = 10000)
threshold value (parameter No.1867 or No.1868) is required to
be set the scale data out of movable range.
The explanation below is for a rotary axis B type using a rotary scale without rotary data which has data 0~360000, for example.
An uncontinuous point is assumed to exist on machine position 40.000. If the movable range is machine position -45.000~+45.000, the data sen
t
from rotary scale is uncontinuous, 0~5000 and 275000~359999. In this case, the correct machine position -45.000~0~39.999 is detected when the
scale data 275000~359999 is sent, but the wrong machine position -320.000~-315.000, which is different from correct position by 360 degree, is
detected when the scale data 0~5000 is sent, if the scale data is not converted, because machine position is shown by equation (scale data when the
p
ower is turned on) - (scale data on machine position =0).
So, by the parameter No.1817#3=1 machine position is converted to -85000~-1 in the scale data 275000~35999 because it is subtracted by the
amount of one rotation (360000 in this example). Therefore The scale data is continuous as -85000~0~5000. This conversion is performed in the
case that the scalse data is larger than the threshold (parameter No.1867 or No.1868).
The threshold value is required to be set as angle from a uncontinuous point in the least input increment. In the above figure, the threshold value is
10000.
Edit
Apprv Desig.
4/12
Date
Design
Description
Data
FANUC Series 16i /18i /21i –MA/MB, 18i -MB5
Setting of parameters for rotary scale without
rotar
y data
A-78823E
03 Dec.02.2003 Out of #3 is added.
02 Feb.25.2003
M.tanaka
Out of #2 is altered / added.
Feb.20.2003
Sheet
Title
Draw
No.
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Contents Summary of FS 16i/18i/21i-MA/MB, FS 18i-MB5 Additional Manual

  • Page 1TECHNICAL REPORT NO.TMN 03/099E Date : Dec.03.’03 General Manager of Software Development Center FANUC Series 16i/18i/21i/20i/160i/180i/210i - MODEL A CONNECTION MANUAL(FUNCTION) FANUC Series 16i/18i/21i/160i/180i/210i - MODEL B CONNECTION MANUAL(FUNCTION) Setting of parameters for rotary scale with
  • Page 2FANUC Series 16i /18i /21i –MA/MB FANUC Series 18i –MB5 Setting of parameters for rotary scale without rotary data FANUC Series 16i /18i /21i –MA/MB, 18i -MB5 Title Setting of parameters for rotary scale without rotary data Draw No. A-78823E 03 Dec.02.2003 Out of #3 is added. 02 Feb.25.2003 M.tanaka
  • Page 3General This manual described the method of parameter setting when the rotary scale which has no rotary data (the number of rotation) is used, such as Heidenhain rotary scale RCN723 or Futaba rotary scale FRR902L3DB. We have improved our software, and removed the problems when a rotary scale without
  • Page 4Details 1. Difference in rotary axial type and movable range rotary axial type movable range required parameters reference rotary axis B type under one rotation No.1817#3 No.1867 or 1868 chapter 1.1 rotary axis B type over one rotation No.1815#0 chapter 1.2 rotary axis A type － No.1815#6 chapter 1.3
  • Page 51.1. In the case of a rotary axis B type whose movable range is under one rotation In the case of a rotary axis whose movable range is under one rotation, it is possible to know its position under one rotation, even if a rotary scale without rotary data (the number of rotation) is used. The scale da
  • Page 6An uncontinuous point of scale data Before using this function it is necessary to know the position of the uncontinuous point in following process. 1. Perform a reference position return with No.1817#3=0. 2. Record machine coordinate value after moving to one side of movable range. 3. Turn the CNC o
  • Page 7#7 #6 #5 #4 #3 #2 #1 #0 1817 SCRx [Data type] Bit axis SCRx Specifies whether to convert scale data so that rotary axis B type is available for the axis using a rotary scale without rotary data 0: not to convert 1: to convert NOTE ・ It is necessary to turn the CNC off after setting this parameter. ・
  • Page 8As for the axis with this parameter = 0, the parameter (No.1861) for all axes is available. NOTE ・ It is necessary to turn the CNC off after setting this parameter. ・ In FANUC Series 16i /18i /21i –A, there is not this parameter. Use the parameter (No.1867) for all axes. ・ This parameter is availabl
  • Page 91.2. In the case of a rotary axis B type whose movable range is over one rotation As for an axis whose movable range is over one rotation and its rotary scale which has no rotary data , for example, 30.000 degree and 390.000 degree have completely same scale data though their position is different f
  • Page 101.3. In the case of a rotary axis A type In the case of a rotary axis A type, when machine position passes 0 degree or the shift value per one rotation (360 degree or the parameter No.1260), the data for the reference position (the parameter No.1860, 1861) is renewed so that following up at power up
  • Page 112. Method of using Heidenhain rotary scale RCN223, 723 and 220 RCN223, 723 and 220 are the detectors which save absolute position only within one rotation. And the former two detectors (RCN223 and 723) are the detectors which have eight million pulses every one rotation. There are following cautions
  • Page 12NOTE Rotary data of RCN223, 723 and 220 can be saved during separate detector I/F unit turned on. But it is forgotten as soon as it turned off. It is necessary to set parameters in order to clear rotary data because it is undefined according to the place where separate detector I/F unit is turned of
  • Page 13【Reference counter capacity】 No.1821 Set amount of feed back pulsees (detection unit) per a table rotation. NOTE) Set amount of (pulses per a table rotation / 8) as reference counter capacity in the case of No.2275#0=0. But in this case eight grids are made every a table rotation. (Example of parame