Constant-acceleration-time Acceleration/Deceleration for Interpolation-type Positioning Additional Manual Page 2
Additional Manual
Edit
A-77436E
FANUC Series 16
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/18
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/21
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Constant-acceleration-time-manner
Acceleration/deceleration for Interpolation-type
2/4
Title
Drawin
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No.
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Data Si
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nature Descri
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1998/10/2
1. Outline
This function enables acceleration/deceleration for interpolation-type positioning
(parameter No. 1401#1 LPOS = 1) in constant-acceleration-time manner.
As a result, positioning is performed more exactly along the programmed path.
2. Specification
When positioning from the point A to B in interpolation-type setting (parameter No.
1401#1 LPOS = 1), the command pulses distribution to each axis vary as follows
depending on the acceleration/deceleration manners. (constant-acceleration-rate, which
is conventional VS constant-acceleration-time)
i) Constant-acceleration-rate:
In the case that the acceleration rates for X and Y axes are the same.
Command pulses distribution for each axis is finished with the deviation time of “b”
while it should be at the same time.
This results in a big deviation of actual positioning path from the programmed path by
constant-acceleration-rate acceleration/deceleration after interpolation.
A
B
X
Y
Feedrate
b
X-axis
Y
-axis
Tim
Tim
Contents Summary of Constant-acceleration-time Acceleration/Deceleration for Interpolation-type Positioning Additional Manual
- Page 1FANUC Series 16i/18i/21i Constant-acceleration-time Acceleration/deceleration for Interpolation-type Positioning Specifications [Contents] 1. Outline ------------------------------------------------- 2. 2. Specification ------------------------------------------------- 2. 3. Parameters -------------
- Page 21.Outline This function enables acceleration/deceleration for interpolation-type positioning (parameter No. 1401#1 LPOS = 1) in constant-acceleration-time manner. As a result, positioning is performed more exactly along the programmed path. 2.Specification Y B A X When positioning from the point A t
- Page 3ii) Constant-acceleration-time (parameter No. 1603#4 RPTCT = 1): In the case that the time constants(parameter No.1620) for X and Y axes are the same. Feedrate X-axis Tim Y-axis Tim Deviation of actual positioning path from the programmed path is smaller than that by constant-acceleration-rate accel
- Page 4No. Time constant of linear acceleration/deceleration in rapid traverse for 1620 each axis [Data type] Word axis [Data unit] msec [Data range] 0 to 4096 in total for all controlled axes [Example] If the number of controlled axes is 4, the following setting can be done: 1st axis: 2048 msec 2nd axis: