FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 158

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

NOTE

Even if the servo error of the corresponding control axis is within
the specified allowance (in-position width), the signal is not set to
"1" when the axis is moving or there is acceleration/deceleration
delay.

These signals turn to "0" in the following cases :
-

The move command of the corresponding control axis is specified.

The servo error of the corresponding control axis exceeds the specified allowance.

Signal address

Fn104

INP8

INP7

INP6

INP5

INP4

INP3

INP2

INP1

Parameter

1601

NCI

[Input type] Parameter input

[Data type] Bit path

#5 NCI

An in-position check:

Confirms that the specified feedrate becomes 0 (the acceleration/deceleration delay
becomes 0) at deceleration time and that the machine position has reached a
specified position (the servo positional deviation is within the in-position width set
by parameter No. 1826).

Confirms only that the specified feedrate becomes 0 (the acceleration/deceleration
delay becomes 0) at deceleration time.

1826

In-position width for each axis

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 99999999

The in-position width is set for each axis.
When the deviation of the machine position from the specified position (the absolute
value of the positioning deviation) is smaller than the in-position width, the machine is
assumed to have reached the specified position. (The machine is in the in-position state.)

Note

NOTE

1 The in-position signals INP1 to INP8 <Fn104> may turn to "1" even during the

movement if the axis is fed at very low speed.

2 The in-position check function is enabled at the interface between two cutting

blocks, when the exact stop command (G09) or exact stop mode command
(G61) is specified

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

7.2.6.3

In-position check disable signal

Overview

In-position check disable signal NOINPS <Gn023.5> can be used to specify whether an in-position check
is executed.

Explanation

In-position check disable signal NOINPS <Gn023.5> can be used to disable a in-position check between
blocks. When an in-position check is disabled, the CNC does not perform an in-position check during
deceleration. That is, the CNC starts the next block before entering the in-position. This reduces the cycle
time.

NOTE

1 When an in-position check is disabled, the CNC starts the next block before

entering the in-position. Note that this may cause a difference between the
program command and the actual tool path.

2 In-position check disable signal NOINPS <Gn023.5> can disable an in-position

check between blocks, but cannot disable an in-position check by the following G
codes.
-  Reference position return (G28)
-  2nd/3rd/4th reference position return (G30)
-  Machine coordinate system selection (G53)
-  Single direction positioning (G60)

However, this signal can disable an in-position check at the midpoint of G28 and
G30, or at the motion end point of G60.
To disable an in-position check in the reference position in G28 and G30,
specify reference position return (G28.2, G30.2).

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Example

O0001;
N10 G00 X50.0;
N20 G00 X100.0;
N30 M30;
Note) The program starts at the position in which X-coordinate is 0.0.

<1> When NOINPS <Gn023.5> is "0"

(An in-position check is performed.)

N10

N20

In-position check

eedr

Time

<2> When NOINPS <Gn023.5> is "1"

(An in-position check is not performed.)

N10

N20

eedr

Time

Servo delay

Signal

In-position check disable signal NOINPS <Gn023.5>

[Classification] Input signal

[Function] Specifies whether an in-position check is performed.

[Operation] When this signal is set to "1", the controller operates as follows.

An in-position check is not performed regardless of the setting of bit 5 (NCI) of
parameter No. 1601. That is, the next block is executed before the in-position is entered.
The operation when an in-position check is not performed is the same as that in the case
where bit 5 (NCI) of parameter No. 1601 is 1.
When this signal is set to "0", the controller operates as follows.
An in-position check follows the setting of bit 5 (NCI) of parameter No. 1601.

Signal address

Gn023

NOINPS

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Parameter

1601

NCI

[Input type] Parameter input

[Data type] Bit path

#5 NCI

An in-position check:

Confirms only that the specified feedrate becomes 0 (the acceleration/deceleration
delay becomes 0) at deceleration time.

7.2.6.4

In-position check independently of feed/rapid traverse

Overview

If separate in-position check for cutting feed and rapid traverse is executed, a small in-position check
range can be specified between those cutting feed blocks that require a high degree of precision. A large
in-position check range can be specified between those rapid traverse blocks that require quick
positioning.

Signal

See Item “In-position check.”.

Parameter

1601

NCI

[Input type] Parameter input

[Data type] Bit path

#5 NCI

An in-position check:

Confirms only that the specified feedrate becomes 0 (the acceleration/deceleration
delay becomes 0) at deceleration time.

1801

CIN

CCI

[Input type] Parameter input

[Data type] Bit path

#4 CCI

As the in-position width for cutting feed:

The parameter No. 1826 applicable to rapid traverse as well is used.

The parameter No. 1827 dedicated to cutting feed is used.

This parameter enables the in-position width for cutting feed (parameter No. 1827) to be
set instead of the in-position width for rapid traverse (parameter No. 1826).

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

By setting bit 4 (CCI) of parameter No. 1801, choose whether to use this function or the
conventional in-position check function.
This function, when specified, is enabled for all axes. So, for an axis that does not require
this function, set the same data in parameters Nos. 1826 and 1827.

#5 CIN

When CCI is set to 1, the dedicated parameter for specifying an in-position width for

cutting feed is used:
0:

Only when the next block specifies cutting feed.

Regardless of the next block.

The table indicates the relationships between the parameters for cutting feed and rapid
traverse.

Bit 5 (CIN) of parameter No. 1801

Bit 4 (CCI) of

parameter No.

1801

Rapid traverse

→

Rapid traverse

No. 1826

Rapid traverse

→

Rapid traverse

No. 1826

Rapid traverse

→

Cutting feed

No. 1826

Rapid traverse

→

Cutting feed

No. 1826

Cutting feed

→

Cutting feed

No. 1826

Cutting feed

→

Cutting feed

No. 1826

Cutting feed

→

Rapid traverse

No. 1826

Cutting feed

→

Rapid traverse

No. 1826

Rapid traverse

→

Rapid traverse

No. 1826

Rapid traverse

→

Rapid traverse

No. 1826

Rapid traverse

→

Cutting feed

No. 1826

Rapid traverse

→

Cutting feed

No. 1826

Cutting feed

→

Cutting feed

No. 1827

Cutting feed

→

Cutting feed

No. 1827

Cutting feed

→

Rapid traverse

No. 1826

Cutting feed

→

Rapid traverse

No. 1827

The parameters CCI and CIN can also be applied to a Cs axis.

1826

In-position width for each axis

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 99999999

1827

In-position width in cutting feed for each axis

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 99999999

Set an in-position width for each axis in cutting feed. This parameter is used when bit 4
(CCI) of parameter No. 1801=1.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Note

NOTE

If the bit 5 (NCI) of parameter No. 1601 is set to 1, so that position check is not
performed during deceleration, this function is invalid. The system starts
execution of the next block as soon as deceleration has been completed, without
checking whether the servo position error is within the specified range.

7.2.7

Feed Forward in Rapid Traverse

Overview

Feed-forward control can be available even during rapid traverse. In this case, the servo position
deviation is reduced, thus it reduces the time required for positioning to within the specified range.

Parameter

1800

FFR

[Input type] Parameter input

[Data type] Bit path

#3 FFR

Feed-forward control in rapid traverse is:

Disabled

Enabled

Feed-forward is enabled only in normal cutting feed. When this parameter is set to 1,
feed-forward is enabled in rapid traverse as well. This capability reduces the servo
positional deviation, thus reducing the time required to enter the in-position width at the
time of positioning.

NOTE

The parameter setting becomes valid after reference position return
is completed.

Reference item

For details of this function, refer to the "FANUC SERVO MOTOR

series Maintenance Manual

(B-65285EN)."

7.2.8

Optimum Acceleration/Deceleration for Rigid Tapping

Overview

This function can be used to flexibly set the acceleration/deceleration during cutting in rigid tapping
according to the torque characteristics of a spindle motor and the mechanical characteristics such as
machine friction. Depending on the torque characteristics of a spindle motor and the mechanical
characteristics, the acceleration/deceleration performance (referred to below as the maximum acceleration
curve) that can be output is not symmetrical in the low-speed and high-speed parts. The conventional
acceleration/deceleration (linear-shaped/bell-shaped) is symmetrical, so it was impossible to make the
most of the motor performance.
This function can be used to perform acceleration/deceleration so that the actual speed curve can follow
the maximum acceleration curve as close as possible. This can make the most of the motor performance
and reduce the cutting time. When rigid tapping is used in an area where the acceleration of the spindle
motor is constant, however, reduction in the cutting time cannot be expected.

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

If the acceleration pattern is set for the parameter for each gear, rigid tapping by acceleration following
the maximum acceleration curve.
In acceleration/deceleration during withdrawal, the acceleration/deceleration pattern during cutting is
used.

nd
le s
p

ee
d

Time

Acceleration

Symmetrical in
the low-speed
and high-speed
parts

Real
acceleration
pattern

Maximum
acceleration line

Low-speed

High-speed

The best of
motor
performan
ce is not
drawn.

nd
le s
p

ee
d

Fig. 7.2.8 (a) Conventional acceleration/deceleration (bell-shaped)

Time

Acceleration

Real
acceleration
pattern

Maximum
acceleration line

Asymmetrical in
the low-speed
and high-speed
parts

Low-speed

High-speed

nd
le s
p

ee
d

nd
le s
p

ee
d

Fig. 7.2.8 (b) Acceleration/deceleration in which the maximum acceleration curve is followed by the actual

acceleration curve by this function

Explanation

This function selects an acceleration pattern set in the parameter based on the acceleration/deceleration
state of the spindle and the selected gears (between the spindle and the spindle motor), calculates the
allowable acceleration of the spindle from the current spindle acceleration, and performs rigid tapping by
controlling acceleration/deceleration so that the allowable acceleration of the spindle is not exceeded.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

NOTE

In the text in this section, up to four stages of gears between the spindle and the
spindle motor in rigid tapping are described. Up to four stages of gears are used
in lathe systems, but up to three stages of gears are used in machining centers.

Setting optimum acceleration/deceleration

Set bit 0 (RAU) of parameter No. 11420 to 1 to enable this function.

Allowable
acceleration

Spindle speed

Acceleration pattern

Fig. 7.2.8 (c) Acceleration setting point

For the parameter for each gear, set the rotation speed and allowable acceleration in the acceleration
setting points (P0 to P4) for each spindle acceleration/deceleration. The kinked line connecting the
acceleration setting points is the acceleration pattern.
In changes in the allowable acceleration, when, for example, speed Fa shifts to speed Fb in Fig. 7.2.8 (c),
the allowable accelerations Aa and Ab corresponding to these speeds are used.

Table 7.2.8 (a) Parameters for acceleration patterns for each gear

Gear

Parameter

number for

maximum

acceleration

Parameter

number for

maximum

spindle speed

Accelerati
on setting

points

Parameter

number for

spindle speed

Allowable acceleration

parameter number

Forward/Reverse

Acceleration

Deceleration

Gear 1

11421

5241

P0
P1
P2
P3
P4

None (0%)

11429
11430
11431

None (100%)

11441
11442
11443
11444
11445

11461
11462
11463
11464
11465

Gear 2

11422

5242

P0
P1
P2
P3
P4

None (0%)

11432
11433
11434

None (100%)

11446
11447
11448
11449
11450

11466
11467
11468
11469
11470

Gear 3

11423

5243

P0
P1
P2
P3
P4

None (0%)

11435
11436
11437

None (100%)

11451
11452
11453
11454
11455

11471
11472
11473
11474
11475

Gear 4

11424

5244

P0
P1
P2
P3
P4

None (0%)

11438
11439
11440

None (100%)

11456
11457
11458
11459
11460

11476
11477
11478
11479
11480

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