FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 161

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Acceleration/deceleration before interpolation for rapid traverse in rigid
tapping.

When look-ahead acceleration/deceleration before interpolation for rapid traverse is valid, if the setting of
look-ahead acceleration/deceleration before interpolation for rapid traverse in rigid tapping is enabled (Bit
5 (RRB) of parameter No.11240 is set to 1), look-ahead acceleration/deceleration before interpolation for
rapid traverse in rigid tapping is valid. (Rapid traverse in rigid tapping is the motion of dotted line in
Fig.7.2.9 .)
However, the specification of acceleration/deceleration in the following functions follows the
specification of each function.
-

Optimum Acceleration/Deceleration for Rigid Tapping

Rigid Tapping with Servo Motor

G84 (G98)

G84 (G99)

Initial level

Point R

Spindle
stop

Spindle CW

Point Z

Point R level

Operation 2

Operation 1

Operation 6

Operation 3

Operation 4

Operation 5

Spindle stop

Spindle CCW

Spindle stop

Point R

Spindle CW

Point Z

Point R level

Spindle stop

Spindle CCW

Spindle stop

Fig.7.2.9 Rigid tapping command

Parameter

1401

LRP

[Input type] Parameter input

[Data type] Bit path

#1 LRP

Positioning (G00)

Positioning is performed with non-linear type positioning so that the tool moves
along each axis independently at rapid traverse.

Positioning is performed with linear interpolation so that the tool moves in a straight
line.

When using 3-dimensional coordinate system conversion, set this parameter to 1.

1671

Maximum allowable acceleration rate in acceleration/deceleration before interpolation for linear rapid

traverse for each axis, or maximum allowable reference acceleration rate in optimum torque

acceleration/deceleration

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm/sec

, inch/sec

, deg/sec

(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 (D)

(When the machine system is metric system, 0.0 to +100000.0. When the machine system
is inch system, machine, 0.0 to +10000.0.)

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

(1) Set a maximum allowable acceleration rate in look-ahead acceleration/ deceleration

before interpolation for linear rapid traverse.

If a value greater than 100000.0, the value is clamped to 100000.0.

If 0 is set, the specification of the following is assumed:

1000.0 mm/sec

100.0 inch/sec

100.0 degrees/sec

If 0 is specified for all axes, however, look-ahead acceleration/deceleration before
interpolation is not performed.

(2) Maximum allowable reference acceleration rate in optimum torque

acceleration/deceleration

1672

Acceleration change time of bell-shaped acceleration/deceleration before interpolation for linear rapid

traverse, or acceleration change time of bell-shaped acceleration/deceleration in optimum torque

acceleration/deceleration

[Input type] Parameter input

[Data type] 2-word path

[Unit of data] msec

[Valid data range] 0 to 200

(1) Set an acceleration change time of bell-shaped acceleration/ deceleration for linear

rapid traverse (time for changing from the state of constant feedrate (A) to the state
of constant acceleration/deceleration (C) at the acceleration rate calculated from the
acceleration rate set in parameter No. 1671: time of (B) in the figure below).

(2) Set an acceleration change time of bell-shaped acceleration/ deceleration in optimum

torque acceleration/deceleration (time for changing from the state of constant
feedrate (A) to the state of acceleration/deceleration (C) at the acceleration rate
calculated from optimum torque acceleration/deceleration: time of (B) in the figure).

Feedrate in tangent direction

Maximum acceleration rate not exceeding
maximum allowable acceleration rate set by
parameter No. 1671 for each axis is
automatically calculated.

Time set by parameter No. 1672

(A)

(B)

(A)

(C)

11240

RRB

ARB

[Input type] Parameter input

[Data type] Bit path

#4 ARB

Look-ahead acceleration/deceleration before interpolation for rapid traverse in AICC

mode off is:
0:

Disabled.

Enabled.

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

NOTE

This parameter is enabled when the parameters for which
look-ahead acceleration/deceleration before interpolation for rapid
traverse is enabled are set. (Refer to bit 5 (FRP) of parameter
No.19501.)

#5 RRB

Look-ahead acceleration/deceleration before interpolation for rapid traverse in rigid

tapping is:
0:

Disabled.

Enabled.

NOTE

This parameter is enabled when look-ahead
acceleration/deceleration before interpolation for rapid traverse is
valid. (Refer to bit 5 (FRP) of parameter No.19501.)

11242

Time constant of acceleration/deceleration after interpolation of acceleration/deceleration before

interpolation in rapid traverse

[Input type] Parameter input

[Data type] Word axis

[Unit of data] msec

[Valid data range] 0 to 4000

This parameter is used for the time constant of look-ahead acceleration/deceleration
before interpolation in rapid traverse.
Be sure to specify the same time constant value for all axes except for a special
application. If different time constants are set, a correct linear line cannot be obtained.

19501

FRP

[Input type] Parameter input

[Data type] Bit path

#5 FRP

Linear rapid traverse is:

Acceleration/deceleration after interpolation

Look-ahead acceleration/deceleration before interpolation

Set a maximum allowable acceleration rate for each axis in parameter No. 1671.

When using look-ahead bell-shaped acceleration/deceleration before interpolation, set an
acceleration rate change time in parameter No. 1672.

When this parameter is set to 1, look-ahead acceleration/deceleration before interpolation
is also applied to rapid traverse if all conditions below are satisfied. At this time,
acceleration/deceleration after interpolation is not applied.
-

Bit 1 (LRP) of parameter No. 1401 is set to 1: Linear interpolation type positioning

A value other than 0 is set in parameter No. 1671 for an axis.

The AI contour control mode is set.

If all of these conditions are not satisfied, acceleration/deceleration after interpolation is
applied.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

7.2.10

Time constant of acceleration / deceleration after
interpolation switching function by signal

Overview

Time constant of acceleration / deceleration after interpolation can be switched by input signal of PMC.

Explanation

In this function, time constant of acceleration / deceleration after interpolation for rapid traverse and
cutting feed can be switched by input signal of PMC.

- Time constant of acceleration / deceleration after interpolation for rapid traverse

switching

A time constant of acceleration / deceleration after interpolation for rapid traverse can be switched to
either of the three following kinds by time constant of acceleration / deceleration after interpolation for
rapid traverse switching signals RTC2, RTC3<Gn599.6, Gn599.7>.
- The usual time constant for rapid traverse (Parameter Nos. 1620 and 1621)
- The second time constant for rapid traverse (Parameter Nos. 1674 and 1675)
- The third time constant for rapid traverse (Parameter Nos. 1676 and 1677)

Example of time chart for time constant of acceleration / deceleration after interpolation for rapid traverse
switching

Confirm an effective parameter by time constant of acceleration / deceleration after interpolation for rapid
traverse switching confirmation signal RTC2O, RTC3O.

Time constant of acceleration /
deceleration after interpolation
for rapid traverse switching signal
RTC2<Gn599.6>

Time constant of acceleration /
deceleration after interpolation
for rapid traverse switching signal
RTC3<Gn599.7>

Time constant of acceleration /
deceleration after interpolation
for rapid traverse switching
confirmation signal RTC2O<Fn599.6>

Time constant of acceleration /
deceleration after interpolation
for rapid traverse switching
confirmation signal RTC3O<Fn599.7>

No.1620
No.1621

No.1674
No.1675

No.1620
No.1621

No.1676
No.1677

No.1620
No.1621

Switching state of the parameter
of a valid time constant

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

- Time constant of acceleration / deceleration after interpolation for cutting feed

switching

A time constant of acceleration / deceleration after interpolation for cutting feed can be switched to either
of the three following kinds by time constant of acceleration / deceleration after interpolation for cutting
feed switching signals CTC2, CTC3<Gn599.4, Gn599.5>.
- The usual time constant for cutting feed (Parameter No. 1622)
- The second time constant for cutting feed (Parameter No. 1678)
- The third time constant for cutting feed (Parameter No. 1679)

Example of time chart for time constant of acceleration / deceleration after interpolation for cutting feed
switching

Confirm an effective parameter by time constant of acceleration / deceleration after interpolation for
cutting feed switching confirmation signal CTC2O, CTC3O.

NOTE

1) If -1 is set to parameters Nos. 1674 or 1676 or a value not within the valid data range is specified in

these parameters, the second or the third time constant of acceleration / deceleration after interpolation
for rapid traverse is invalid in its axis.

2) If -1 is set to parameters Nos. 1678 or 1679 or a value not within the valid data range is specified in

these parameters, the second or the third time constant of acceleration / deceleration after interpolation
for cutting feed is invalid in its axis.

3) To switch a time constant of acceleration / deceleration after interpolation, all the valid axes should

stop. When the axis has not stopped, the time constant is switched at the next program block after
stopping all the valid axes.

4) When an axis has been moved to other path by flexible path axis assignment function, a time constant

of acceleration / deceleration after interpolation is switched by RTC2, RTC3, CTC2 and CTC3 of the
path after moving.

5) A slave axis of synchronous control is used the same kind of acceleration / deceleration after

interpolation as a master axis. However, as for the time constant, each one is used. When the master
axis is a valid axis for this function, and the slave axis is an invalid axis, as for the time constant of the
slave axis, the usual time constant is used.

Time constant of acceleration /
deceleration after interpolation
for cutting feed switching signal
CTC2<Gn599.4>

Time constant of acceleration /
deceleration after interpolation
for cutting feed switching signal
CTC3<Gn599.5>

Time constant of acceleration /
deceleration after interpolation
for cutting feed switching
confirmation signal CTC2O<Fn599.4>

Time constant of acceleration /
deceleration after interpolation
for cutting feed switching
confirmation signal CTC3O<Fn599.5>

No.1622

No.1678

No.1622

No.1679

No.1622

Switching state of the parameter
of a valid time constant

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

6) A movement axis of composite control is used the same kind of acceleration / deceleration after

interpolation as a specified axis. However, as for the time constant, each one is used. When the
specified axis is a valid axis for this function, and the movement axis is an invalid axis, as for the time
constant of the movement axis, the usual time constant is used.

7) In the following cases, a time constant for this function is invalid.

A time constant of acceleration / deceleration after interpolation for manual handle retrace is valid

8) In the following cases, a time constant for rapid traverse for this function is invalid.

As for the axes (a master axis and a slave axis) in superimposed control (with speed control)

A time constant of acceleration / deceleration after interpolation for positioning by optimum
accelerations is valid

Acceleration / deceleration before interpolation for rapid traverse of AI contour control is valid

9) In the following cases, a time constant for cutting feed for this function is invalid.

A time constant of acceleration / deceleration after interpolation for the skip is valid

A time constant of acceleration / deceleration after interpolation for rigid tapping is valid

A time constant of acceleration / deceleration after interpolation for spindle control with servo
motor is valid

A time constant of exponential acceleration / deceleration after interpolation in cutting feed for
PMC axis control is valid

Acceleration / deceleration before interpolation of AI contour control is valid

7.2.10.1

Time constant of acceleration/deceleration after interpolation
in the mode of acceleration/deceleration before interpolation
switching function by PMC signal

Outline

A time constant of acceleration/deceleration after interpolation in the mode of acceleration/deceleration
before interpolation can be switched by PMC signal.

Explanation

In this function, the following time constant can be switched by PMC signal.

Time constant of acceleration/deceleration after interpolation of acceleration/deceleration before

interpolation in rapid traverse

Time constant of acceleration/deceleration after cutting feed interpolation in the

acceleration/deceleration before interpolation mode

- Time constant of acceleration/deceleration after interpolation of
acceleration/deceleration before interpolation in rapid traverse switching

When parameter BRT(No.25750#0) is set to 1, a time constant of acceleration/deceleration after
interpolation of acceleration/deceleration before interpolation in rapid traverse can be switched to either
of the following three parameters  by time constant of acceleration/deceleration after interpolation for
rapid traverse switching signals RTC2, RTC3<Gn599.6, Gn599.7>.
Set  parameter No. 11242 to a value from 1 to 4000,  when executing “Time constant of
acceleration/deceleration after interpolation of acceleration/deceleration before interpolation in rapid
traverse switching”.
-  The time constant of acceleration/deceleration after interpolation of acceleration/deceleration before
interpolation in rapid traverse
(Parameter No. 11242)
-  The second time constant of acceleration/deceleration after interpolation of acceleration/deceleration
before interpolation in rapid traverse
(Parameter No. 25751)

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

- The third time constant of acceleration/deceleration after interpolation of acceleration/deceleration
before interpolation in rapid traverse
(Parameter No. 25752)

Example)

- Time constant of acceleration/deceleration after cutting feed interpolation in
the acceleration/deceleration before interpolation mode switching

When parameter BCT(No.25750#1) is set to 1, a time constant of acceleration/deceleration after cutting
feed interpolation in the acceleration/deceleration before interpolation mode can be switched to either of
the following three parameters by time constant of acceleration/deceleration after interpolation for cutting
feed switching signals CTC2, CTC3<Gn599.4, Gn599.5>.
-  The time constant of acceleration/deceleration after cutting feed interpolation in the
acceleration/deceleration before interpolation mode
(Parameter No. 1769)
-  The second time constant of acceleration/deceleration after cutting feed interpolation in the
acceleration/deceleration before interpolation mode
(Parameter No. 25753)
-  The third time constant of acceleration/deceleration after cutting feed interpolation in the
acceleration/deceleration before interpolation mode
(Parameter No. 25754)

Time constant of acceleration/
deceleration after interpolation
for rapid traverse switching signal
RTC2<Gn599.6>

Time constant of acceleration/
deceleration after interpolation
for rapid traverse switching signal
RTC3<Gn599.7>

Time constant of acceleration/
deceleration after interpolation
for rapid traverse switching
confirmation signal
RTC2O<Fn599.6>

Time constant of acceleration/
deceleration after interpolation
for rapid traverse switching
confirmation signal
RTC3O<Fn599.7>

No.11242

State of a valid time constant

No.25751

No.11242

No.25752

No.11242

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Example)

NOTE

In a function of not supporting time constant of acceleration/deceleration after interpolation of

acceleration/deceleration before interpolation, this function is disabled.

When the parameter No.25751 or 25752 is set to -1, the second or third time constant of

acceleration/deceleration after interpolation of acceleration/deceleration before interpolation in rapid
traverse is disabled.

When the parameter No.25753 or 25754 is set to -1, the second or third time constant of

acceleration/deceleration after cutting feed interpolation in the acceleration/deceleration before
interpolation mode is disabled.

To switch a time constant of acceleration/deceleration after interpolation, all the valid axes must be

stopped. When the axis has not stopped, the time constant is switched at the next program block after
stopping all the valid axes.

When the parameters Nos.25751 to 25754 are changed during switching to a time constant of

acceleration/deceleration after interpolation for this function, the time constant is also changed.

When an axis has been moved to other path by flexible path axis assignment function, a time constant

of acceleration/deceleration after interpolation is switched by RTC2, RTC3, CTC2 and CTC3 of the
path after moving.

A slave axis of the synchronous control is used the same kind of acceleration/deceleration after

A movement axis of the composite control is used the same kind of acceleration/deceleration after

interpolation as a specified axis. However, as for the time constant, each one is used. When the
specified axis is a valid axis for this function, and the movement axis is an invalid axis, as for the
time constant of the movement axis, the usual time constant is used.

In the following case, a time constant for this function is valid.

A time constant of acceleration/deceleration after interpolation in the acceleration/deceleration

before interpolation mode for the canned cycle for drilling is valid

A time constant of acceleration/deceleration after interpolation in the acceleration/deceleration

before interpolation mode for the automatic corner speed control is valid

Time constant of acceleration/
deceleration after interpolation
for cutting feed switching signal
CTC2<Gn599.4>

Time constant of acceleration/
deceleration after interpolation
for cutting feed switching signal
CTC3<Gn599.5>

Time constant of acceleration/
deceleration after interpolation
for cutting feed switching
confirmation signal
CTC2O<Fn599.4>

Time constant of acceleration/
deceleration after interpolation
for cutting feed switching
confirmation signal
CTC3O<Fn599.5>

No.1769

State of a valid time constant

No.25753

No.1769

No.25754

No.1769

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