FANUC Series 16i/160i-L Gap Control B Function, Specification Additional Manual Page 3

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FANUC Series 16i/160i -L

Gap control B function

A – 78791E

02.04.25

Contents

Date

Design

M.Sato

Title

Drawing

Page

04 2004.11.19 M.Sato Error in writing correction

03 2004.11.09 M.Sato Error in writing correction

02 2004.05.17 M.Sato All pages changed.

- Tracing speed of gap control axis

Tracing speed Vz in the former Gap control is calculated by the following expression.

4096102

Le1000

×××

×=

∆

E0) - E( K 60 Vz

Vz ：Tracing speed (mm/min)

：The factor that converts the velocity to control voltage of gap control

△E ：Deflection (mm)

E0 ：Reference deflection (mm)

G ：Gap control gain (sec

-1

) standard value = 30sec

-1

Le ：Machine movement at 1 rotation of motor (mm/rev)

P ：Number of detection pulses of pulse coder for 1 rotation of motor (p/rev)

K1 must be calculated by the above expression and set to the parameter in the former Gap

control.

So, the following expression is used at Gap control B to simplify the parameter setting.

Moreover, the above calculation of K1 cannot be applied to the linear motor.

E0) - E( G 60 Vz

∆

K Vz Vc

Vc ：Traveled distance which is commanded to the motor.

：Coefficient in which gap control speed is converted into motor rotational speed

G is set as a parameter (PRM No.15853 or PRM No.15854).

K2 is calculated by CNC using the following parameters.

For the rotation motor

PRM No.15850 : Machine movement at 1 rotation of motor

For the liner motor

PRM No.15851 : Magnification of the position detection circuit.

PRM No.15852 : Wavelength of the separate detector

Contents Summary of FANUC Series 16i/160i-L Gap Control B Function, Specification Additional Manual

Page 1FANUC Series16i/160i -L Gap control B function Specification Copyright  2004 FANUC LTD. FANUC Series 16i/160i -L Title Gap control B function 04 2004.11.19 M.Sato Error in writing correction Drawing A – 78791E 03 2004.11.09 M.Sato Error in writing correction 02 2004.05.17 M.Sato All pages changed.
Page 2Outline Making Gap control B function effective can use the following functions. • Gap control axis high-speed approach function • Automatic gap control axis retraction and approaching function Moreover, the gap control axis moves smoothly because CNC calculates more accurately in Gap control B func
Page 3- Tracing speed of gap control axis Tracing speed Vz in the former Gap control is calculated by the following expression. Vz = 60 × K 1 × (∆E - E0) P×4 K1 = G × × 2 × 10 -3 × 4096 1000 × Le Vz ：Tracing speed (mm/min) K1 ：The factor that converts the velocity to control voltage of gap control △E ：Def
Page 4Parameter #7 #6 #5 #4 #3 #2 #1 #0 15840 TRB [Data type] Bit TRB Specify whether Gap control B function are enabled or disabled. 0: Disabled 1: Enabled 15850 Machine movement at 1 rotation of motor [Data type] 2-word axis [Unit of data] 0.001mm [Valid data range] 0 to 99999999 Specify the machine mov
Page 515854 Gap control gain at approaching [Data type] Word axis [Unit of data] sec-1 [Valid data range] 0 to 32767 Specify the gap control gain during approaching gap control axis. PRM No.15853 is used in case that this parameter is not set. 15855 Acceleration limit at approaching [Data type] Word axis