A-79595E
Title
Draw
No.
Ed. Date Design Description
Date May.24.’04 esig. Apprv.
7/33
Sheet
FANUC Series 30i-MODEL A
Live Tool Control With Servo Motor
-Acceleration/deceleration(Time constant)
You can switch the acceleration/deceleration during a rotation command in
accordance with the speed. There are two switching points; you can
specify parameters S
0
and S
1
(switching speed).
Set the acceleration/deceleration in each of the three sections,
using parameters Aa, Ab, and Ac.
Speed (min
-1
)
S
0
Time (sec)
S
1
S
a
b
c
S
1
: Setting of parameter No. 11020 (switching of acceleration/deceleration
at speed S
1
) (min
-1
)
S
0
: Setting of parameter No. 11021 (switching of acceleration/deceleration
at speed S
0
) (min
-1
)
S: Specified speed (min
-1
)
Aa: Setting of parameter No. 11030 (acceleration/deceleration used at 0 to
speed S
0
) (min
-1
/s)
Ab: Setting of parameter No. 11031 (acceleration/deceleration used at S
0
to
speed S
1
) (min
-1
/s)
Ac: Setting of parameter No. 11032 (acceleration/deceleration used at S
1
to
maximum motor speed S) (min
-1
/s)
Decide on the setting of each parameter, referring to the torque
characteristics of the motor.
-Reference position return
Be sure to perform a reference position return before executing the first
command.
-Display
You can specify whether to consider actual speed display, with NDF, bit 3 of
parameter No.3115. You can also specify whether to display "Actual
Speed" and "Dist to Go", with NDP, bit 0 of parameter No. 3115, and NDA,
bit 1 of parameter No. 3115.