User manual FANUC OI MATE-TC PARAMETER MANUAL

[. . . ] FANUC Series 0*-MODEL C FANUC Series 0* Mate-MODEL C PARAMETER MANUAL B-64120EN/01              !  !        "   B-64120EN/01 DEFINITION OF WARNING, CAUTION, AND NOTE DEFINITION OF WARNING, CAUTION, AND NOTE This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Read the Warning, Caution, and Note thoroughly before attempting to use the machine. WARNING Applied when there is a danger of the user being injured or when there is a damage of both the user being injured and the equipment being damaged if the approved procedure is not observed. [. . . ] 2 Because some addresses (such as R and K) are not related to an axis, setting this parameter for all axes is not equivalent to setting bit 0 (DPI) of parameter No. 3 This parameter cannot be used together with: - Macro executor - Basic operation package - Macro call argument 3460 Address for second miscellaneous function [Data type] Byte This parameter specifies the address used for the second miscellaneous function, as follows: Address Set value A 65 B 66 C 67 U 85 V 86 W 87 Address B is assumed when a value other than the above is set. Axes names cannot be used to specify the address. - 177 - 4. DESCRIPTION OF PARAMETERS B-64120EN/01 4. 19 PARAMETERS OF PITCH ERROR COMPENSATION #7 3605 #6 #5 #4 #3 ROPx #2 #1 #0 BDPx NOTE When this parameter has been set, the power must be turned off before operation is continued. [Data type] BDPx Bit Both-direction pitch error compensation is: 0 : Not used. 1 : Used. NOTE The function of both-direction pitch error compensation is required. ROPx The interval of pitch error compensation for a rotation axis (type A) is: 0 : Restricted by the following equation: Minimum value = maximum feedrate (rapid traverse rate)/7500. 1 : Not restricted by the following equation: Minimum value = maximum feedrate (rapid traverse rate)/7500. Number of the pitch error compensation position for the reference position for each axis 3620 NOTE When this parameter is set, the power must be turned off before operation is continued. [Data type] [Unit of data] [Valid data range] Word axis Number 0 to 1023 Set the number of the pitch error compensation position for the reference position for each axis. Pitch error compensation value (absolute value) 3 2 1 Reference position -1 -2 Compensation position number Set compensating value 31 -3 32 +1 33 +1 34 +1 35 +2 36 -1 37 -3 Pitch error compensation position (number) - 178 - B-64120EN/01 4. DESCRIPTION OF PARAMETERS Fig. 4. 19 Pitch error compensation position number and value (example) In the above example, set 33 as the number of the pitch error compensation position for the reference position. 3621 Number of the pitch error compensation position at extremely negative position for each axis NOTE When this parameter is set, the power must be turned off before operation is continued. [Data type] [Unit of data] [Valid data range] Word axis Number 0 to 1023 Set the number of the pitch error compensation position at the extremely negative position for each axis. Number of the pitch error compensation position at extremely positive position for each axis 3622 NOTE When this parameter is set, the power must be turned off before operation is continued. [Data type] [Unit of data] [Valid data range] Word axis Number 0 to 1023 Set the number of the pitch error compensation position at the extremely positive position for each axis. This value must be larger than set value of parameter (No. 3620). - 179 - 4. DESCRIPTION OF PARAMETERS 3623 Magnification for pitch error compensation for each axis B-64120EN/01 NOTE When this parameter is set, the power must be turned off before operation is continued. [Data type] [Unit of data] [Valid data range] Byte axis 1 0 to 100 Set the magnification for pitch error compensation for each axis. If the magnification is set to 1, the same unit as the detection unit is used for the compensation data. If 0 is set, the same magnification selected by setting 1 is selected. Interval between pitch error compensation positions for each axis 3624 NOTE When this parameter is set, the power must be turned off before operation is continued. [Data type] [Unit of data] 2-word axis Input increment Millimeter machine Inch machine Rotation axis IS-A 0. 01 0. 001 0. 01 IS-B 0. 001 0. 0001 0. 001 IS-C 0. 0001 0. 00001 0. 0001 Unit mm inch deg [Valid data range] [Example 1] 0 to 99999999 The pitch error compensation positions are arranged with equal spacing. The minimum interval between pitch error compensation positions is limited and obtained from the following equation: Minimum interval between pitch error compensation positions = maximum feedrate (rapid traverse rate)/7500 Units: Minimum interval between pitch error compensation positions: mm, inch, deg Maximum feedrate: mm/min, inch/min, deg/min Example: When the maximum feedrate is 15000 mm/min, the minimum interval between pitch error compensation positions is 2 mm. If setting a magnification causes the absolute value of the compensation amount at a compensation position to exceed 100, enlarge the interval between the compensation positions by using a multiple calculated as follows: Multiple = maximum compensation amount (absolute value)/128 (Round the remainder up to the nearest integer. ) Minimum interval between pitch error compensation positions = Value obtained from the above maximum feedrate × multiple For linear axis · Machine stroke: -400 mm to + 800 mm - 180 - B-64120EN/01 4. DESCRIPTION OF PARAMETERS · Interval between the pitch error compensation positions: 50 mm · No. of the compensation position of the reference position: 40 If the above is specified, the No. of the farthest compensation point in the negative direction is as follows: No. of the compensation position of the reference position (Machine stroke length in the negative direction/Interval between the compensation points) + 1 = 40 - 400/50 + 1 =33 No. of the farthest compensation position in the positive direction is as follows: No. of the compensation position of the reference position + (Machine stroke length in the positive direction/Interval between the compensation positions) = 40 + 800/50 = 56 The correspondence between the machine coordinate and the compensation position No. is as follows: Machine coordinate (mm) -400 -350 -100 -50 0 50 100 750 800 Compensation point No. 33 39 40 41 42 56 Compensation values are output at the positions indicated by f. Therefore, set the parameters as follows: Parameter No. 3621: Compensation point number for farthest point in the negative direction No. 3622: Compensation point number for farthest point in the positive direction No. 3624: Compensation point interval Setting 40 33 56 1 50000 The compensation value is output at the compensation position No. Compensation values 33 +2 34 +1 35 +1 36 -2 37 0 38 -1 39 0 40 -1 41 +2 42 +1 43 0 44 -1 45 -1 46 -2 47 0 48 +1 49 +2 - 181 - 4. DESCRIPTION OF PARAMETERS Pitch error compensation amount (absolute value) +4 +3 +2 Reference position +1 0 -1 -2 -3 -4 B-64120EN/01 -400 -300 -200 -100 100 200 300 400 (mm) [Example 2] For the rotation axis · Amount of movement per rotation: 360° · Interval between pitch error compensation position: 45° · No. of the compensation position of the reference position: 60 If the above is specified, the No. of the farthest compensation position in the negative direction for the rotation axis is always equal to the compensation position No. [. . . ] These parameters set a time constant of linear acceleration/deceleration after interpolation with emphasis placed on speed (precision level 1) and a time constant of linear acceleration/deceleration after interpolation with emphasis placed on precision (precision level 10). The linear or bell-shaped type is selected by bit 3 (BS2) and bit 6 (LS2) of parameter No. 1602. Parameter No. 1602 LS2(#6) BS2(#3) 1 0 0 1 Acceleration/deceleration Selects linear acceleration/deceleration after cutting feed interpolation. Selects bell-shaped acceleration/deceleration after cutting feed interpolation. - 388 - B-64120EN/01 4. DESCRIPTION OF PARAMETERS NOTE 1 For bell-shaped acceleration/deceleration, the function for bell-shaped acceleration/deceleration after cutting feed interpolation is required. [. . . ]