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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 147

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

- Manual handle interrupt

This function cannot be used with the following functions.

- Synchronous / Composite control
- Superimposed control

Parameter

12780

ADE

[Input type] Parameter input

[Data type] Bit path

ADE

Deceleration area setting function is :

Disabled.

Enabled.

12781

Coordinate value of deceleration area (+ direction)

[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] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set the coordinate values of the plus direction in deceleration area boundary.
When the axis moves in the plus direction from this parameter setting value, deceleration
is automatically performed so that the speed set to the following parameters is achieved.

Parameter

Rapid traverse

Cutting feed

Deceleration rate

12783

12784

When the multiple axes are moving in deceleration area, the deceleration ratio is
calculated for each axis, and the highest deceleration ratio is applied.

12782

Coordinate value of deceleration area (- direction)

[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] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set the coordinate values of the minus direction in deceleration area boundary.
When the axis moves in the minus direction from this parameter setting value,
deceleration is automatically performed so that the speed set to the following parameters
is achieved.

Parameter

Rapid traverse

Cutting feed

Deceleration rate

12783

12784

When the multiple axes are moving in deceleration area, the deceleration ratio is
calculated for each axis, and the highest deceleration ratio is applied.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

12783

Deceleration rate of in deceleration area (for rapid traverse)

[Input type] Parameter input

[Data type] Real axis

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

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)

(When the increment system is IS-B, 0.0 to +999000.0)
Set the rapid traverse rate of each axis in the deceleration area.
When this parameter is set to 0, this axis is not decelerated by this function during rapid
traverse.

12784

Deceleration rate of in deceleration area (for cutting feed)

[Input type] Parameter input

[Data type] Real axis

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

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)

(When the increment system is IS-B, 0.0 to +999000.0)
Set the cutting feed rate of each axis in the deceleration area.
When this parameter is set to 0, this axis is not decelerated by this function during cutting
feed.

7.1.10

Positioning by Optimum Accelerations

Overview

When rapid traverse is specified during automatic operation, the rapid traverse rate, time constant, and
loop gain can be switched according to the travel distance of the block by the function for positioning by
optimum accelerations. So, the time required for positioning and in-position check operations can be
reduced, resulting in cycle time reduction.
When rapid traverse (G00) is specified during automatic operation, the rapid traverse rate, time constant,
and loop gain are switched to one of seven levels according to the travel distance of the block. Parameters
are used to specify the rapid traverse rates, time constants, and loop gains corresponding to travel
distances.

Valid command

This function is enabled by the G00 command. In addition, this function is enabled for rapid traverse in a
canned  cycle, automatic reference position return, and machine coordinate system selection. However,
this function is disabled in the cases indicated below, and the feedrate, time constant, and loop gain set in
parameters Nos. 1420, 1620, and 1825 respectively are applied.
(1)  When automatic reference position return (G28) is specified before reference position establishment
(2)  During the Cs contour control mode
(3)  During the rigid tapping mode
(4)  During the 3-dimensional coordinate system conversion mode

CAUTION

This function is disabled for positioning in a canned cycle.

Cutting feed

This function is disabled for cutting feed.

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Manual operation

This function is disabled during manual operation.

Manual intervention

If a manual operation is inserted during automatic operation by halting rapid traverse with feed hold or
mode switching, the value of the loop gain is changed to the value set in parameter No. 1825. If the
program is restarted, the feedrate, time constant, and loop gain corresponding to the remaining travel
distance are used for the rest of the block.

PMC axis control

This function is disabled for PMC axis control.

Rapid traverse overlap

When this function is enabled, rapid traverse overlap (bit 4 (RTO) of parameter No. 1601 = 1) is enabled
if the same axis is not specified in successive blocks.

Example)

Rapid traverse overlap is performed with the following commands:

N01 G00 X10.0 ;

N02 Z-10.0 ;

Rapid traverse overlap is not performed with the following commands:

N11 G00 X10.0 Z-10.0 ;

N12 Z-20.0 ;

Rapid traverse bell-shaped acceleration/deceleration

When rapid traverse bell-shaped acceleration/deceleration is used, T1, T2, and the rapid traverse rate in
the Fig. 7.1.10 are switched.

Rapid

T2/2

Time

Fig. 7.1.10

Angular axis control

This function is disabled for an axis to which angular axis control is applied.

Coordinate system rotation

During the coordinate system rotation mode, switching is performed for the travel distance after
coordinate system rotation.

Scaling (M series)

During the scaling mode, switching is performed for the travel distance after coordinate system rotation.
This also applies during the scaling mode.

Tool radius/Tool nose radius compensation

During the cutter compensation mode or tool-nose radius compensation mode, switching is performed for
the travel distance after compensation.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Linear interpolation type rapid traverse

When linear interpolation type rapid traverse is used (bit 1 (LRP) of parameter No. 1401 = 1), this
function is disabled.

AI contour control

During the AI contour control mode, this function is disabled if look-ahead acceleration/deceleration
before interpolation or optimum torque acceleration/deceleration is used for rapid traverse.

Axis synchronous control

When using this function together with axis synchronous control, enable this function for both of the
master axis and slave axis (bit 0 (OAD) of parameter No. 6131 = 1) and set the same feedrate, time
constant, and loop gain values for the master axis and slave axis.

Parameter

6131

OAD

[Input type] Parameter input

[Data type] Bit axis

NOTE

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

OAD

The function for positioning by optimum acceleration (seven step switching function of

rapid traverse rate by positioning distance and time constant, loop gain at rapid traverse
rate in automatic operation) is
0:

Disabled.

Enabled.

6132

ILG

[Input type] Parameter input

[Data type] Bit path

#0 ILG

In the function for positioning by optimum acceleration, the switch of the loop gain is

Enabled. (Parameters Nos. 6181 to 6187 is used.)

Disabled. (Parameter No. 1825 is used.)

6136

Distance D1 for level 1 of positioning by optimum acceleration for each axis

6137

Distance D2 for level 2 of positioning by optimum acceleration for each axis

6138

Distance D3 for level 3 of positioning by optimum acceleration for each axis

11230

Distance D4 for level 4 of positioning by optimum acceleration for each axis

11231

Distance D5 for level 5 of positioning by optimum acceleration for each axis

11232

Distance D6 for level 6 of positioning by optimum acceleration for each axis

[Input type] Parameter input

[Data type] Real axis

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

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

[Valid data range] Refer to the standard parameter setting table (B)

When using the function for switching the rapid traverse rate, time constant, and loop
gain according to the positioning distance, this parameter sets the positioning distance for
each axis.

NOTE

1 To use this parameter, set bit 0 (OADx) of parameter No. 6131 to

2 If 0 is set in all of parameters Nos. 6136 to 6138 and 11230 to

11232, this function is disabled.

3 The settings must satisfy the following: D1<D2<D3<D4<D5<D6.
4 Switching in up to seven steps is possible. When up to four steps

are used, for example, set parameters so that expression
D1<D2<D3 is satisfied, and set a maximum value (such as
+999999.999 mm) for D4, D5, and D6.

5 For axes with diameter specification, set a diameter value. If

10.000 mm is set for an axis with diameter specification, for
example, switching is made when a movement takes place over a
distance of 10.000 mm in diameter.

6 In parameters Nos. 6136 to 6138 and 11230 to 11232, set a

distance for each axis. Block lengths must not be specified in these
parameters.

6161

Level 1 rapid traverse rate

6162

Level 2 rapid traverse rate

6163

Level 3 rapid traverse rate

6164

Level 4 rapid traverse rate

6165

Level 5 rapid traverse rate

6166

Level 6 rapid traverse rate

6167

Level 7 rapid traverse rate

[Input type] Parameter input

[Data type] Real axis

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

[Valid data range] Refer to the standard parameter setting table(C)

The rapid traverse rate for each axis is set.

6171

Level 1 rapid traverse time constant

6172

Level 2 rapid traverse time constant

6173

Level 3 rapid traverse time constant

6174

Level 4 rapid traverse time constant

6175

Level 5 rapid traverse time constant

6176

Level 6 rapid traverse time constant

6177

Level 7 rapid traverse time constant

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

[Input type] Parameter input

[Data type] Word axis

[Unit of data] msec

[Valid data range] 0 to 4000

The rapid traverse time constant for each axis is set.

6181

Level 1 servo loop gain

6182

Level 2 servo loop gain

6183

Level 3 servo loop gain

6184

Level 4 servo loop gain

6185

Level 5 servo loop gain

6186

Level 6 servo loop gain

6187

Level 7 servo loop gain

[Input type] Parameter input

[Data type] Word axis

[Unit of data] 0.01/sec

[Valid data range] 1 to 9999

The servo loop gain for each axis is set.
If 0 is set, parameter No. 1825 is used.

6191

Time constant T2 of level 1 bell-shaped acceleration/deceleration in rapid traverse

6192

Time constant T2 of level 2 bell-shaped acceleration/deceleration in rapid traverse

6193

Time constant T2 of level 3 bell-shaped acceleration/deceleration in rapid traverse

6194

Time constant T2 of level 4 bell-shaped acceleration/deceleration in rapid traverse

6195

Time constant T2 of level 5bell-shaped acceleration/deceleration in rapid traverse

6196

Time constant T2 of level 6 bell-shaped acceleration/deceleration in rapid traverse

6197

Time constant T2 of level 7 bell-shaped acceleration/deceleration in rapid traverse

[Input type] Parameter input

[Data type] Word axis

[Unit of data] msec

[Valid data range] 0 to 512

Time constant T2 of bell-shaped acceleration/deceleration in rapid traverse for each axis
is set.

Table for correspondence between positioning distances and parameter
numbers

The correspondence is indicated in the Table 7.1.10.

Table 7.1.10

Level Positioning distance d

Rapid traverse

rate

Rapid traverse time

constant T1

Rapid traverse time

constant T2

Servo loop gain

0 < d

≤

No.6161

No.6171

No.6191

No.6181

D1 < d

≤

No.6162

No.6172

No.6192

No.6182

D2 < d

≤

No.6163

No.6173

No.6193

No.6183

D3 < d

≤

No.6164

No.6174

No.6194

No.6184

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Level Positioning distance d

Rapid traverse

rate

Rapid traverse time

constant T1

Rapid traverse time

constant T2

Servo loop gain

D4 < d

≤

No.6165

No.6175

No.6195

No.6185

D5 < d

≤

No.6166

No.6176

No.6196

No.6186

D6 < d

No.6167

No.6177

No.6197

No.6187

7.1.11

AI Contour Control I and AI Contour Control II

Overview

The AI contour control I and AI contour control II functions are provided for high-speed, high-precision
machining. This function enables suppression of acceleration/deceleration delays and servo delays that
become larger with increases in the feedrate and reduction of machining profile errors.
There are two types of AI contour control; these two types are referred to temporarily as AI contour
control I and AI contour control II. AI contour control I is designed mainly for part machining, and AI
contour control II is for machining of successive minute straight lines such as mold machining and so on.
AI contour control represents both AI contour control I and AI contour control II in the rest of this
manual.

The functions listed below are valid in the AI contour control mode.

Table 7.1.11 (a) Valid functions

Function

AI contour control I

AI contour control II

Number of blocks read ahead

40 *1

(When G8 is specified: 1)

200 *2

(When G8 is specified: 1)

Look-ahead acceleration/deceleration
before interpolation

Linear or bell-shaped

acceleration/deceleration

Linear or bell-shaped

acceleration/deceleration

Speed control with feedrate difference
on each axis

Enabled

Speed control with acceleration in
circular interpolation

Enabled

Speed control with acceleration on
each axis

Enabled

(When G8 is specified: Not

enabled)

Enabled

(When G8 is specified: Not

enabled)

Smooth speed control

Not enabled

Enabled

(When G8 is specified: Not

enabled)

Speed control with cutting load

Not enabled

Enabled

Disregard of feedrate command

Not enabled

Enabled

*1 In the system of which maximum controllable paths are more than 2, the number of blocks is 30.
*2 The number of blocks can be expanded to 400 blocks by Look-ahead blocks expansion of AI

contour control II.

Format

G05.1 Q1 [R_] ;

AI contour control mode on

G05.1 Q0 ;

AI contour control mode off

: Machining condition selecting level (1 to 10)

The AI contour control mode can be controlled also with the formats that have been used for the
conventional advanced preview control, high-precision contour control, and AI high-precision contour
control functions.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

G08 P1 [R_] ;

AI contour control mode on

G08 P0 ;

AI contour control mode off

: Machining condition selecting level (1 to 10)

G05 P10000 [R_] ; AI contour control mode on

G05 P0 ;

AI contour control mode off

: Machining condition selecting level (1 to 10)

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