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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 153

B-64693EN-1/01

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

1722

Rapid traverse feedrate reduction ratio for overlapping rapid traverse blocks

[Input type] Parameter input

[Data type] Byte axis

[Unit of data] %

[Valid data range] 0 to 100

This parameter is used when rapid traverse blocks are arranged successively, or when a
rapid traverse block is followed by a block that does not cause movement. When the
feedrate for each axis of a block is reduced to the ratio set in this parameter, the execution
of the next block is started.

NOTE

The parameter No. 1722 is effective when bit 4 (RTO) of parameter
No. 1601 is set to 1.

1726

Rapid traverse rate reduction ratio for overlapping threading cycle blocks

[Input type] Parameter input

[Data type] Byte axis

[Unit of data] %

[Valid data range] 0 to 100

In a threading cycle that is a canned cycle, when the feedrate for each axis is reduced to
the deceleration ratio set in this parameter between a retraction and a return to the cycle
start point or between a return to the cycle start point and a movement to the threading
start point, the execution of the next block is started.

NOTE

The parameter No. 1726 is valid when bit 3 (TCO) of parameter
No. 1611 is set to 1.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

7.2.1.4

Smart overlap

Outline

Cycle time can be reduced by Smart overlap that can overlap at rapid traverse to cutting feed, cutting feed
to rapid traverse, and rapid traverse to rapid traverse.

Cutting feed

(X-axis)

Rapid traverse

(Z-axis)

Overlapped path

Program path

Overlap

Workpiece

Rapid traverse

(Z-axis)

Fig. 7.2.1.4 (a) Overlapped path

Feedrate

Time

Feedrate

Time

overlap

Reducing

Applying overlap

Z-axis

X-axis

Z-axis

X-axis

Z-axis

Rapid traverse

Before applying overlap

Cutting feed

Fig. 7.2.1.4 (b) Effect of overlap

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Explanation

When bit 1 (SOVx) of parameter (No.11236) is set to 1, Smart overlap is effective.
Overlap time can be set by parameter (Nos.11248 and 11249). The commands between blocks can be
overlapped at the amount of the set overlap time. If the commands to which overlap is effective is
consecutive, it overlaps between not only two blocks but two or more blocks.

Feedrate

Time

Overlap time = Parameter (No.11248) + Parameter (No.11249)

Cutting feed

Rapid traverse

X-axis

Z-axis

Overlap

Fig.7.2.1.4 (c) Overlap time

・

Method for parameter setting

Set the parameters as follows to use Smart overlap is used.

For the axis for which Smart overlap is to be enabled, set bit 1 (SOVx) of parameter (No. 11236) to

Set overlap time to parameter (No.11248).
- Parameter (No.11248) is used as a common time constant for acceleration/deceleration after

interpolation in rapid traverse and cutting feed. (This is called as acceleration/deceleration by
Smart overlap.)

- Usually set below the value of parameter (No.1622) (Time constant of acceleration/deceleration

in cutting feed for each axis).

In addition, set below the value of parameter (No.1769) (Time constant for
acceleration/deceleration after cutting feed interpolation in the acceleration/deceleration before
interpolation mode) when AICC (AI Contour Control) is used.

- Set the same value to all axes to enable Smart overlap.
- Usually set 0 to parameter (No.11249).

Set the following value to parameter (No.1621) (Time constant T2 used for

acceleration/deceleration in rapid traverse for each axis).

- Parameter (No.1621) = Parameter (No.1621) - Parameter (No.11248)
- If the value in the above expression is minus, set 0 to parameter (No.1621).
- If vibration is generated by the rapid traverse command, adjust the parameter (No.1621) of axes

to which the vibration is generated by setting a bigger value.

Set the following value to parameter (No.1622) (Time constant of acceleration/deceleration in

cutting feed for each axis).
- Parameter (No.1622) = Parameter (No.1622) - Parameter (No.11248)
- If the value in the above expression is minus, set 0 to parameter (No.1622).

When AICC (AI Contour Control) is used, set the following value parameter (No.176) (Time

constant for acceleration/deceleration after cutting feed interpolation in the
acceleration/deceleration before interpolation mode).
- Parameter (No.1769) = Parameter (No.1769) - Parameter (No.11248)

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

- If the value in the above expression is minus, set 0 to parameter (No.1769).

When rapid traverse acceleration/deceleration before interpolation is used, set the following value

parameter (No.11242) (Time constant of acceleration/deceleration after interpolation of
acceleration/deceleration before interpolation in rapid traverse).
- Parameter (No.11242) = Parameter (No.11242) - Parameter (No.11248)
- If the value in the above expression is minus, set 0 to parameter (No.11242).

If parameter (No.11242) is 0, set the following value to parameter (No.1672) (Acceleration change

time of bell-shaped acceleration/deceleration before interpolation for linear rapid traverse) because
the adjustment by time constant for acceleration/deceleration after interpolation is unavailable.

- Parameter (No.1672) = Parameter (No.1672) - Parameter (No.11248)
- If the value in the above expression is minus, set 0 to parameter (No.1672).

When the each function of Table 7.2.1.4 (a), adjust time constants for acceleration/deceleration

after interpolation of the each function.

- The value of parameter (No.11248) is subtracted from the time constants of the each function.
- When the bell-shaped acceleration/deceleration is “constant acceleration/deceleration type” +

“constant acceleration/deceleration time type”, the value of parameter (No.11248) is subtracted
from the time constant of “constant acceleration/deceleration time type”.

- If the problem (vibrate is generated, and etc.) occurs on each function, adjust the time constants

of the each function by setting a bigger value.

Table 7.2.1.4 (a) Time constants for acceleration/deceleration after interpolation of the each function

Function

Parameter

TIME CONSTANT FOR ACC/DEC IN JOG

No.1624

T CONSTANT AFTER IPL(THREAD CYCLE)

No.1626

TIME CNST2 AFTER IP(RAPID)

No.1674

TIME CNST2(BELL) AFTER IP(RAPID)

No.1675

TIME CNST3 AFTER IP(RAPID)

No.1676

TIME CNST3(BELL) AFTER IP(RAPID)

No.1677

TIME CNST2 AFTER IP(CUT)

No.1678

TIME CNST3 AFTER IP(CUT)

No.1679

TIME CONSTANT FOR ACC/DEC (GEAR 1 TO 4)

Nos.5261 to 5264

TIME CNST IN EXTRACTION (GEAR 1 TO 4)

Nos.5271 to 5274

TIME CNST FOR BELL (GEAR 1 TO 4)

Nos.5365 to 5368

LEVEL 1 TO 7 RAPID TRAVERSE TIME CONSTANT
(Positioning by optimum accelerations)

Nos.6171 to 6177

TIME CNST T2 FOR LEVEL 1 TO 7 RAPID BELL
(Positioning by optimum accelerations)

Nos.6191 to 6197

T CONSTANT AFTER IPL(SKIP FUNCTION)

No.6280

T CONSTANT AFTER RAPID (MH RETRACE)

No.6495

T CONST BELL AFTER RAPID(MH RETRACE)

No.6496

T CONST AFTER CUT (M-HANDLE RETRACE)

No.6497

T CONSTANT FOR LINEAR (RETRACT)

No.7745

T CONST FOR LINEAR IN RAPID(S-IMPOS)

No.8192

T CONST FOR BELL IN RAPID (S-IMPOSE)

No.8195

T CONST IN CUT (2 AXES SUPERIMPOSED)

No.8196

T CONST FOR LINEAR IN RAPID(3 S-IMP)

No.8197

T CONST FOR BELL IN RAPID (S-IMPOSE)

No.8198

T CONST IN CUT (3 AXES SUPERIMPOSED)

No.8199

TIME CONSTANT AFTER IPL(SP WITH SV)

No.11016

T CONST AFTER CUT IPL IN BEFOR IPL

No.11052

TIME CONST FOR RIGID TAPPING (G1 TO G4)

Nos.11060 to 11063

TIME CONST IN EXTRACT FOR R-TAP(G1 TO G4)

Nos.11065 to 11068

T-CON AIPL IN BIPL(RAPID)(msec)

No.11242

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Function

Parameter

T CONST IN RAPID (TCP OR WSC MODE)

No.11263

CAUTION

If the overlap time is set bigger value than the original setting time constant for
acceleration/deceleration after cutting feed interpolation, the machining accuracy
of the workpiece might deteriorate.

［

Example of parameter setting

］

The example of parameter setting in case of setting overlap time as 16msec is shown below.

Table 7.2.1.4 (b) Example of parameter setting

Move

command

Axis

Before applying Smart overlap

Parameter

Total (*1)

Rapid traverse

No.1620

No.1621

No.11248

112

120

100

148

Cutting feed

No.1622

Rapid

traverse

acc/dec before

interpolation

No.1671

No.1672

No.11242

8000

6000

Cutting feed

(AICC)

No.1660

No.1772

No.1769

4000

Move

command

Axis

Applying Smart overlap

Parameter

Total (*1)

Rapid traverse

No.1620

No.1621

No.11248

112

120

100

148

Cutting feed

No.1622

Rapid

traverse

acc/dec before

interpolation

No.1671

No.1672

No.11242

8000

6000

Cutting feed

(AICC)

No.1660

No.1772

No.1769

4000

(*1) Total of time constant for acceleration/deceleration after interpolation (Parameter No.1660,

No.1772, No.1671 and No.1672 are excluded for acceleration/deceleration before interpolation)

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Parameter No.1620: Time constant T1 used for acceleration/deceleration after interpolation in rapid

traverse

Parameter No.1660: Maximum allowable acceleration rate in acceleration/deceleration before

interpolation (AICC)

Parameter No.1772: Acceleration change time of bell-shaped acceleration/deceleration before

interpolation (AICC)

Parameter No.1671: Maximum allowable acceleration rate in acceleration/deceleration before

interpolation for linear rapid traverse

Parameter No.1672: Acceleration change time of bell-shaped acceleration/deceleration before

interpolation for linear rapid traverse

[Example]

This example is the case of automatic operation on parameter setting of Table 7.2.1.4 (b) without AICC.

Time

Reducing

(32msec)

Overlap

Rapid traverse

F48000

Z-150mm

Cutting feed

F5000

X+10mm

Program path

Rapid traverse
F48000
Z+150mm

20μm

Applying overlap

Before applying overlap

Applying overlap

Before applying overlap

Tool path

* Servo delay is not included.

20μm

Z-axis

X-axis

Rapid traverse

Cutting feed

Rapid traverse

Z-axis

Feedrate

Fig. 7.2.1.4 (d) Example

Clamp of overlap value

As the feedrate increases, overlap value becomes larger. To suppress it, by setting parameter (Nos.10740
to 10742), the overlap value can be clamped depending on program command.
(During Smart overlap, normal in-position check is not executed.)

Table 7.2.1.4 (c) Maximum overlap value

Program command

Maximum overlap value

(Parameter Number)

Current block

Next block

Rapid traverse

No.10740

Rapid traverse

Cutting feed

No.10741

Cutting feed

Rapid traverse

No.10742

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Rapid

traverse

Cutting

feed

Applying overlap (Parameter No.10741 = 0)

Before applying overlap

Applying overlap (Parameter No.10741=200 (detection unit: 1μm))

200μm

200μm
or less

* Overlap time = 32msec
* Servo system delay is not included.

Program path

Rapid

traverse

(Z-axis)

Cutting

feed

(X-axis)

Fig. 7.2.1.4 (e) Clamp of overlap value

NOTE

1 When parameter (Nos.10740 to 10742) is set to 0, the overlap value does not be

clamped.

2 When you clamp overlap value, set the value of in-position width or more to

parameter Nos.10740 to 10742.

Disabling overlap

By setting 1 to bits 0 to 7 of parameter (No.11247), overlap can be disabled depending on program
command.

Table 7.2.1.4 (d) Disabling overlap

Program command

Parameter

overlap

Current block

Next block

Number

value

Rapid traverse

SRR(No.11247#0)

Enabled

Disabled

Cutting feed

SRC(No.11247#1)

Enabled

Disabled

No movement

SRN(No.11247#2)

Enabled

Disabled

Cutting feed

Rapid traverse

SCR(No.11247#3)

Enabled

Disabled

Cutting feed

None

Enabled

No movement

SCN(No.11247#4)

Disabled

Enabled

No movement

Rapid traverse

SNR(No.11247#5)

Disabled

Enabled

Cutting feed

SNC(No.11247#6)

Enabled

Disabled

No movement

SNN(No.11247#7)

Enabled

Disabled

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Example 1 of overlap [Rapid traverse

⇒

Cutting feed

⇒

Rapid traverse]

Feedrate

Time

Rapid

traverse

Rapid

traverse

Cutting

feed

Overlap enabled

Parameter SRC=0

Overlap enabled

Parameter SCR=0

Fig. 7.2.1.4 (f) Example 1 of overlap

Example 2 of overlap [Rapid traverse

⇒

Cutting feed

⇒

Rapid traverse]

(In case that overlap is disabled from rapid traverse block to cutting feed block)

Feedrate

Time

Rapid

traverse

Rapid

traverse

Cutting

feed

Overlap disabled

Parameter SRC=1

Overlap enabled

Parameter SCR=0

Fig. 7.2.1.4 (g) Example 2 of overlap

Example 3 of overlap [Rapid traverse

⇒

No movement (only M code)

⇒

Cutting feed]

(In case that the execution time of M code is longer than overlap time)

Feedrate

Rapid

traverse

No movement

M code

Cutting

feed

Overlap enabled

Parameter SRN=0

Overlap enabled

Parameter SNC=0

Overlap is not executed across

no movement block (only M code)

Time

Fig. 7.2.1.4 (h) Example 3 of overlap

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