FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 157
B-64693EN-1/01
- 1210 -
7. FEEDRATE CONTROL/ACCELERATION AND
DECELERATION CONTROL
0
50
100
150
0
1000
2000
3000
4000
Speed(min
-1
)
T
orq
u
e
(Nm)
P0
P1
P5
Fig. 7.2.5 (k) Torque for Acc/Dec in case of - move and acceleration with
consideration of gravity and friction.
Parameter setting is as follows,
Fig.7.2.5 (f)
Parameter
number
Setting
Unit
Remarks
Acceleration at
P0
19551
11435
0.01%
Set half the acceleration at P1, or 11435.
Acceleration at
P1-P2
19552,19553
22869
0.01%
At P1 and P2, 110(Nm) can be used for the
acceleration/ deceleration, so set the ratio of the
acceleration at 110 (Nm) to the reference
acceleration.
(2.2869 = 9431 / 4124)
Acceleration at
P3-P4
19554 to 19555
0
0.01%
0 is set because P3 to P4 are skipped.
Acceleration at
P5
19556
18504
0.01%
At P5, 89(Nm) can be used for the
acceleration/deceleration, so set the ratio of the
acceleration at 89 (Nm) to the reference
acceleration.
(1.8504 = 7631 / 4124)
P0
P1
P2
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
0
8000
16000
24000
32000
40000
48000
Speed mm/min
A
ccel
er
at
io
n m
m
/s
ec
2
P5
Fig. 7.2.5 (l) Acceleration pattern in case of - move and acceleration with
consideration of gravity and friction.
(4) In case of minus move (down) and deceleration
Because torque of Gravity works against the output torque of motor and torque of friction works
forward to the output torque of motor, torque for acceleration/deceleration is as follows.
Maximum torque
:
90(=100-20+10) (Nm)
Speed 0 to 2000(min
-1
)
Torque at rapid traverse :
69(=79-20+10) (Nm)
Speed 3000(min
-1
)
Minimum torque
:
48(=58-20+10) (Nm)
Speed 4000(min
-1
)