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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 11

1. AXIS CONTROL

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Fig. 1.3.1 (f) PITCH ERROR COMPENSATION screen (10.4-inch display unit)

3 When the display unit is 15/19-inch, press vertical soft key [PITCH ERROR]. The following screen

is displayed:

Fig. 1.3.1 (g) PITCH ERROR COMPENSATION screen (15-inch display unit)

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4 Move the cursor to the compensation point number to be set in either of the following ways:

Enter the compensation point number and press the soft key [NO.SRH].

Move the cursor to the compensation point number using the page keys,

and

, and

cursor keys,

, and

5 Enter a value with numeric keys and press soft key [INPUT].

If bit 5 (PAD) of parameter No. 11350 is 1, an axis name is displayed next to the compensation point

number set in parameter No. 3621 for determining the most negative pitch error compensation point

number. Also, if the bi-directional pitch error compensation function is enabled, "+ axis name" is

displayed next to the compensation point number set in parameter No. 3621 for setting the compensation

point during movement in the positive direction, and "- axis name" is displayed next to the compensation

point number set in parameter No. 3626 for setting the compensation point during movement in the

negative direction.

NOTE

1 If the setting of the pitch error compensation parameter is not correct, the axis

name of that axis is not displayed.

2 For a rotation axis, an axis name is displayed next to the pitch error

compensation point number of the reference position set in parameter No. 3620.

Parameter

3620

Number of the pitch error compensation position for the reference position for each axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 1535

Set the number of the pitch error compensation position for the reference position for

each axis.

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.

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 1535

Set the number of the pitch error compensation position at the extremely negative

position for each axis.

3622

Number of the pitch error compensation position at extremely positive position for each axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

1. AXIS CONTROL

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[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 1535

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.

3623

Magnification for pitch error compensation for each axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 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, compensation is not performed.

3624

Interval between pitch error compensation positions for each axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis

[Valid data range] See the description below.

The pitch error compensation positions are arranged with equal spacing. The space

between two adjacent positions is set for each axis. 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/7500

Unit : mm, inch, deg or 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.

3625

Travel distance per revolution in pitch error compensation of rotary axis type

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis

[Valid data range] See the description below.

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1. AXIS CONTROL

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If the pitch error compensation of rotary axis type is performed (bit 1 (ROSx) of

parameter No. 1006 is set to 0 and bit 0 (ROTx) of parameter No. 1006 is set to 1), set the

travel distance per revolution. The travel distance per revolution does not have to be 360

degrees, and a cycle of pitch error compensation of rotary axis type can be set.

However, the travel distance per revolution, compensation interval, and number of

compensation points must satisfy the following condition:

(Travel distance per revolution)

= (Compensation interval)

(Number of compensation points)

The compensation at each compensation point must be set so that the total compensation

per revolution equals 0.

NOTE

If 0 is set, the travel distance per revolution becomes 360 degrees.

Warning

WARNING

- Compensation value range

Compensation values can be set within the range from -127

compensation

magnification (detection unit) to +127

compensation magnification (detection

unit). The compensation magnification can be set for each axis within the range

from 0 to 100 in parameter 3623.

- Pitch error compensation of the rotary axis

For the rotating axis, the interval between the pitch error compensation positions

shall be set to one per integer of the amount of movement (normally 360

) per

rotation. The sum of all pitch error compensation amounts per rotation must be

made to 0. Also, set the same compensation value to a position and the same

position with one rotation.

- Conditions where pitch error compensation is not performed

Note that the pitch error is not compensated in the following cases:

- When the machine is not returned to the reference position after turning on the

power. This excludes the case where an absolute position detector is

employed.

- If the interval between the pitch error compensation positions is 0.

- If the compensation position Nos. on the positive or negative direction do not

fall within the range of 0 to 1535.

- For linear axis, if the compensation position Nos. do not conform to the

following relationship:

Negative side

≤

Reference position < Positive side

Note

NOTE

For multipath control, axes that have the same axis name but that have different

paths must use different compensation position Nos.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Inputting Pitch Error Compensation Data
Outputting Pitch Error Compensation Data

1. AXIS CONTROL

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1.3.2

Backlash Compensation

Overview

- Backlash compensation

Function for compensating for lost motion on the machine. Set a compensation value in parameter No.

1851, in detection units from 0 to

9999 pulses for each axis.

- Backlash compensation for each rapid traverse and cutting feed

When the bit 4 (RBK) of parameter No.1800 is set to 1, more precise machining can be performed by

changing the backlash compensating value depending on the feedrate, the rapid traverse or the cutting

feed.

Let the measured backlash at cutting feed be A and the measured backlash at rapid traverse be B. The

backlash compensating value is shown Table 1.3.2 (a) depending on the change of feedrate (cutting feed

or rapid traverse) and the change of the direction of movement.

Table 1.3.2 (a)

Change of feedrate

Change of

direction of movement

Cutting feed to

cutting feed

Rapid traverse

to rapid traverse

Rapid traverse

to cutting feed

Cutting feed to

rapid traverse

Same direction

±a

)

Opposite direction

(B+

)

(B+

)

= (A-B) / 2 (However, if

is not an integer, it is

= (A-(B-1)) / 2.)

The positive or negative direction for compensating values is the direction of movement.

Fig. 1.3.2 (a)

Assign the measured backlash at cutting feed (A) in parameter No. 1851 and that at rapid traverse

(B) in parameter No. 1852.

- Tolerance for reverse pulse of the axis moving direction

The output of the backlash compensation pulse is controlled, from reversing of the movement direction of

the axis to multiplying the movement value (unit of detection) that set by the parameter (No.1853).

As a result, the output of the backlash compensation pulse to the movement minutely repeated can be

controlled.

And, the tolerance parameter (No.1853) for reverse pulse of the axis moving direction is also effective in

the following functions.

- Backlash compensation for each rapid traverse and cutting feed

(Backlash of the same direction is excluded)

- Smooth backlash compensation

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Fig. 1.3.2 (b) Tolerance for reverse pulse of the axis moving direction

NOTE

When an excessive value is input to the parameter (No.1853) of this function, the

backlash compensation for each rapid traverse and cutting feed output of the same

direction is done.

When the backlash must be invalided, please adjust compensation value

parameter (No.1848,1851,1852) to 0.

Parameter

1800

RBK

[Input type] Parameter input

[Data type] Bit path

#4 RBK

Backlash compensation applied separately for rapid traverse and cutting feed

0: Not performed

1: Performed

1802

BKL15x

[Input type] Parameter input

[Data type] Bit axis

#4 BKL15x

When the direction of a movement is determined in backlash compensation:

0: The compensation amount is not considered.

1: The compensation amount (pitch error, straightness, external machine coordinate

system shift, etc.) is considered.

1851

Backlash compensating value for each axis

[Input type] Parameter input

[Data type] Word axis

[Unit of data] Detection unit

[Valid data range] -9999 to 9999

Set the backlash compensating value for each axis.

Movement direction

of axis

(direction reverse)

Total value of backlash compensation

after direction reverses

Value of movement

after direction reverses

Parameter

(No.1851)

Disable bandwidth L0

Parameter (No.1853)

1. AXIS CONTROL

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When the machine moves in a direction opposite to the reference position return direction

after the power is turned on, the first backlash compensation is performed.

1852

Backlash compensating value used for rapid traverse for each axis

[Input type] Parameter input

[Data type] Word axis

[Unit of data] Detection unit

[Valid data range] -9999 to 9999

Set the backlash compensating value used in rapid traverse for each axis. (This parameter

is valid when bit 4 (RBK) of parameter No. 1800 is set to 1.) More precise machining can

be performed by changing the backlash compensating value depending on the feedrate,

the cutting feed or the rapid traverse positioning. Let the measured backlash at cutting

feed be A and the measured backlash at rapid traverse be B. The backlash compensating

value is shown Table 1.3.2 (b) depending on the change of feedrate (cutting feed or rapid

traverse) and the change of the direction of movement.

Table 1.3.2 (b)

Change of feedrate

Change of

direction of movement

Cutting feed

to cutting

feed

Rapid

traverse to

rapid traverse

Rapid

traverse to

cutting feed

Cutting feed

to rapid

traverse

Same direction

±a

)

Opposite direction

(B+

)

(B+

)

NOTE

=(A-B)/2 (However, if

is not an integer, it is

= (A-(B-1)) / 2.)

2 The positive or negative direction for compensating values is the

direction of movement.

1853

Tolerance for reverse pulse of axis moving direction of backlash compensation

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 999999999

The tolerance value for reverse pulse of the axis moving direction of the backlash

compensation is set.

After the value set by the parameter at time when the direction of the movement changed

is moved, the backlash compensation pulse is output.

When this parameter set to 0, the function of invalid bandwidth is disabled, and the

backlash compensation is done when the direction of the movement is changed.

Caution

CAUTION

The backlash compensation for each rapid traverse and cutting feed is not

performed until the first reference position return is completed after the power is

turned on. Under this state, the normal backlash compensation is performed

according to the value specified in parameter No. 1851 irrespective of a rapid

traverse or a cutting feed.

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Note

NOTE

1 When backlash compensation is applied separately for cutting feed and rapid

traverse, jog feed is regarded as cutting feed.

2 If parameter No.1851 is changed when the backlash compensation or the

backlash compensation for each rapid traverse and cutting feed is performed;

the new compensation value becomes valid when the machine moves in a

direction opposite to the reference return direction.

3 If parameter No.1852 is changed when the backlash compensation for each rapid

traverse and cutting feed is performed;

the new compensation value becomes valid when the machine moves at rapid

traverse regardless of direction.

1.3.3

Smooth Backlash

Explanation

With normal backlash compensation, all backlash compensating value are output at the location where the

direction of axis moving reverses. (Fig. 1.3.3 (a))

Direction of

axis moving

(Direction reverse)

Total amount of backlash compensation after direction reverse

Distance of travel after

direction reverse

Parameter No. 1851

Fig. 1.3.3 (a) Normal backlash compensation

With smooth backlash compensation, backlash compensating value are output in accordance with the

distance from the location where the direction of axis moving reverses, so that fine backlash

compensation corresponding to the characteristics of the machine is possible. (Fig. 1.3.3 (b))

Direction of

axial moving

(Direction reverse)

Total amount of backlash compensation

after direction reverse

Distance of travel after

direction reverse

B2 (parameter No. 1851)

B1 (parameter No. 1848)

(parameter No. 1846)

(parameter No. 1847)

Fig. 1.3.3 (b) Smooth backlash compensation

To enable this function set SBL, bit 2 of parameter No. 1817, to 1.

- First stage backlash compensation output

At the location where the direction of axis moving reverses, the first stage backlash compensation output

is performed. Set the first stage backlash compensation B

, using parameter No.1848.

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