FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 284

A.PARAMETERS

 APPENDIX 

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19500 

 

 

FNW 

      

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 6 

FNW

  When the feedrate is determined according to the feedrate difference 

and acceleration in AI contour control: 
0:  The maximum feedrate at which the allowable feedrate 

difference and acceleration for each axis are not exceeded is 
used. 

1:  The maximum feedrate at which the allowable feedrate 

difference and acceleration for each axis are not exceeded is used. 
The feedrate is determined so that the decreased feedrate is 
constant regardless of the move direction when the profile is the 
same. 

A feedrate is determined to satisfy the condition that the allowable 
feedrate difference and allowable acceleration rate of each axis are not 
exceeded, and also to ensure that a constant deceleration rate is 
applied to the same figure regardless of the direction of movement. 
 

  

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19501 

 

  

FRP 

     

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 5 

FRP

  Linear rapid traverse is: 

0:  Acceleration/deceleration after interpolation 
1:  Acceleration/deceleration before interpolation 
Set a maximum allowable acceleration rate for each axis in parameter 

No. 1671. 

When using bell-shaped acceleration/deceleration before interpolation, 
set an acceleration rate change time in parameter No. 1672. 
 
When this parameter is set to 1, 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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 APPENDIX 

A.PARAMETERS

 

 

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19503 

 

   

ZOL 

   

HPF 

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 0 

HPF

  When a feedrate is determined based on acceleration in AI contour 

control, smooth feedrate control is: 
0: Not 

used. 

1: Used. 
 

        # 4 

ZOL

  The deceleration function based on cutting load in AI contour control 

(deceleration based on Z-axis fall angle) is: 
0:  Enabled for all commands. 
1:  Enabled for linear interpolation commands only. 
 

  

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19515 

 

      

ZG2 

 

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 1 

ZG2

  When the deceleration function based on cutting load in AI contour 

control (deceleration based on Z-axis fall angle) is used: 
0:  Stepwise override values are applied. 
1:  Inclined override values are applied. 
This parameter is valid only when bit 4 (ZAG) of parameter No. 8451 
is set to 1. 
When this parameter is set to 1, be sure to set parameter Nos. 19516, 
8456, 8457, and 8458. 
 

19516 

 

Override for area 1 in deceleration based on cutting load in AI contour 

control 

 

 

[Input type]  Parameter input 

 

[Data type]  Word path 

 

[Unit of data]  % 

  [Valid data range]  1 to 100 

This parameter sets an override value for area 1 when the deceleration 
function based on cutting load in AI contour control is used. 
This parameter is valid only when bit 1 (ZG2) of parameter No. 19515 
is set to 1. 
 

A.PARAMETERS

 APPENDIX 

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19530 

 

 

CYS 

      

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 6 

CYS

  Specifies whether when the cylindrical interpolation cutting point 

compensation function is used, cutting point compensation is 
performed between blocks or together with a block movement if the 
cutting point compensation value is less than the setting of parameter 
No. 19534. 
0:  Performed between blocks. 
1:  Performed together with a block movement if the cutting point 

compensation value is less than the setting of parameter No. 
19534. 

 

19534 

  Limit for changing cylindrical interpolation cutting point compensation in a 

single block 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  mm, inch (input unit) 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

  [Valid data range]  1 to 999999999 

The following operation is performed, depending on the setting of 
parameter No.19530: 
(1)  Bit 6 (CYS) of parameter No. 19530) is set to 0 
 

If the amount of cylindrical interpolation cutting point 
compensation is smaller than the value set in this parameter, 
cylindrical interpolation cutting point compensation is not 
performed. Instead, this ignored amount of cylindrical 
interpolation cutting point compensation is added to the next 
amount of cylindrical interpolation cutting point compensation to 
determine whether to perform cylindrical interpolation cutting 
point compensation. 

 
(2)  Bit 6 (CYS) of parameter No. 19530) is set to 1 
 

If the amount of cylindrical interpolation cutting point 
compensation is smaller than the value set in this parameter, 
cylindrical interpolation cutting point compensation is performed 
together with the movement of the specified block. 

 

NOTE 

 

Set this parameter as follows: 

 

Setting > (setting for a rotation axis in parameter 
No. 1422) 

×

 4/3 where 4/3 is a constant for internal 

processing. 

 

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 APPENDIX 

A.PARAMETERS

 

 

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19535 

  Limit of travel distance moved with the cylindrical interpolation cutting point 

compensation in the previous block unchanged. 

 

 

[Input type]  Parameter input 

 

[Data type]  Real path 

 

[Unit of data]  mm, inch (input unit) 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

  [Valid data range]  1 to 999999999 

The following operation is performed, depending on the type of 
interpolation: 
(1)  For linear interpolation 
 

If the travel distance in a specified block is smaller than the value 
set in this parameter, machining is performed without changing 
the cylindrical interpolation cutting point compensation in the 
previous block. 

(2)  For circular interpolation 
 

If the diameter of a specified arc is smaller than the value set in 
this parameter, machining is performed without changing the 
cylindrical interpolation cutting point compensation in the 
previous block. Cylindrical interpolation cutting point 
compensation is not performed according to a circular 
movement. 

 

  

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19540 

 

       

FAP 

 

 

[Input type]  Parameter input 

 

[Data type]  Bit path 

 

        # 0 

FAP

  Optimal torque acceleration/deceleration is: 

0: Disabled. 
1: Enabled. 
When the linear positioning parameters, namely bit 1 (LRP) of 
parameter No. 1401 and bit 0 (FAP) of parameter No. 19540, are set 
to 1, and a value other than 0 is set in reference acceleration parameter 
(No. 1671) for an axis, the acceleration/deceleration for rapid traverse 
becomes optimal torque acceleration/deceleration in the mode for 
acceleration/deceleration before look-ahead interpolation (or the AI 
contour control mode). Optimal torque acceleration/ deceleration is 
controlled according to parameter-set restricted acceleration curve 
data. 
 
Setting an acceleration pattern 

A.PARAMETERS

 APPENDIX 

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A cceleration

Speed

Fb

Fa

A a

P 1

P 2

P 3

P 4 

P 5 

A b

A cceleration pattern

P 0

 

 
Set the speed at each of the acceleration setting points (P0 to P5) in a 
corresponding parameter, then in parameters for each axis, set 
acceleration rates applicable in the following four cases at these 
speeds: when a movement in the positive direction is accelerated, 
when a movement in the positive direction is decelerated, when a 
movement in the negative direction is accelerated, and when a 
movement in the negative direction is decelerated. 
The line connecting the acceleration setting points is the acceleration 
pattern. 
The acceleration rate for each axis is calculated. For example, between 
speeds Fa to Fb in the above figure, the acceleration rates 
corresponding to these speeds, Aa to Ab, are used for calculation. 
The tangent acceleration is controlled so that it does not exceed the 
calculated acceleration rate for each axis. 
 

 CAUTION 

 

When an acceleration pattern is set, setting a high 
acceleration rate immediately after a speed of 0 
can cause an impact on the machine, so it is not 
desirable. Therefore, 

be sure to apply a 

relatively low acceleration rate at a speed of 0

 

as shown in the above figure. 

 

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 APPENDIX 

A.PARAMETERS

 

 

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19541 

 

Optimal torque acceleration/deceleration (speed at P1) 

 

19542 

 

Optimal torque acceleration/deceleration (speed at P2) 

 

19543 

 

Optimal torque acceleration/deceleration (speed at P3) 

 

19544 

 

Optimal torque acceleration/deceleration (speed at P4) 

 

 

[Input type]  Parameter input 

 

[Data type]  Word axis 

 

[Unit of data]  0.01% 

  [Valid data range]  0 to 10000 

The speeds at acceleration setting points P1 to P4 are to be set with 
speed parameters Nos. 19541 to 19544 as ratios to the rapid traverse 
speed (parameter No. 1420). The speed at P0 is 0, and the speed at P5 
is the rapid traverse rate specified with parameter (No. 1420). Any 
acceleration setting point for which the speed parameter (one of Nos. 
19541 to 19544) is set to 0 will be skipped. 
 

19545 

 

Optimal torque acceleration/deceleration (acceleration at P0 during 

movement in + direction and acceleration) 

 

19546 

 

Optimal torque acceleration/deceleration (acceleration at P1 during 

movement in + direction and acceleration) 

 

19547 

 

Optimal torque acceleration/deceleration (acceleration at P2 during 

movement in + direction and acceleration) 

 

19548 

 

Optimal torque acceleration/deceleration (acceleration at P3 during 

movement in + direction and acceleration) 

 

19549 

 

Optimal torque acceleration/deceleration (acceleration at P4 during 

movement in + direction and acceleration) 

 

19550 

 

Optimal torque acceleration/deceleration (acceleration at P5 during 

movement in + direction and acceleration) 

 

19551 

 

Optimal torque acceleration/deceleration (acceleration at P0 during 

movement in - direction and acceleration) 

 

19552 

 

Optimal torque acceleration/deceleration (acceleration at P1 during 

movement in - direction and acceleration) 

 

19553 

 

Optimal torque acceleration/deceleration (acceleration at P2 during 

movement in - direction and acceleration) 

 

19554 

 

Optimal torque acceleration/deceleration (acceleration at P3 during 

movement in - direction and acceleration) 

 

19555 

 

Optimal torque acceleration/deceleration (acceleration at P4 during 

movement in - direction and acceleration) 

A.PARAMETERS

 APPENDIX 

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19556 

 

Optimal torque acceleration/deceleration (acceleration at P5 during 

movement in - direction and acceleration) 

 

19557 

 

Optimal torque acceleration/deceleration (acceleration at P0 during 

movement in + direction and deceleration) 

 

19558 

 

Optimal torque acceleration/deceleration (acceleration at P1 during 

movement in + direction and deceleration) 

 

19559 

 

Optimal torque acceleration/deceleration (acceleration at P2 during 

movement in + direction and deceleration) 

 

19560 

 

Optimal torque acceleration/deceleration (acceleration at P3 during 

movement in + direction and deceleration) 

 

19561 

 

Optimal torque acceleration/deceleration (acceleration at P4 during 

movement in + direction and deceleration) 

 

19562 

 

Optimal torque acceleration/deceleration (acceleration at P5 during 

movement in + direction and deceleration) 

 

19563 

 

Optimal torque acceleration/deceleration (acceleration at P0 during 

movement in - direction and deceleration) 

 

19564 

 

Optimal torque acceleration/deceleration (acceleration at P1 during 

movement in - direction and deceleration) 

 

19565 

 

Optimal torque acceleration/deceleration (acceleration at P2 during 

movement in - direction and deceleration) 

 

19566 

 

Optimal torque acceleration/deceleration (acceleration at P3 during 

movement in - direction and deceleration) 

 

19567 

 

Optimal torque acceleration/deceleration (acceleration at P3 during 

movement in - direction and deceleration) 

 

19568 

 

Optimal torque acceleration/deceleration (acceleration at P5 during 

movement in - direction and deceleration) 

 

 

[Input type]  Parameter input 

 

[Data type]  Word axis 

 

[Unit of data]  0.01% 

  [Valid data range]  0 to 32767 

For each travel direction and each acceleration/deceleration operation, 
set the allowable acceleration rate at each of the acceleration setting 
points (P0 to P5). As an allowable acceleration rate, set a ratio to the 
value set in the reference acceleration parameter (No. 1671). When 0 
is set, the specification of 100% is assumed. 
 

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 APPENDIX 

A.PARAMETERS

 

 

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19581 

 

Tolerance smoothing for nano smoothing 

 

 

[Input type]  Setting input 

 

[Data type]  Real path 

 

[Unit of data]  mm, inch, degree (input unit) 

 

[Minimum unit of data]  Depend on the increment system of the applied axis 

 [Valid data range]  0 or positive 9 digit of minimum unit of data (refer to the standard 

parameter setting table (B)) 
(When the increment system is IS-B, 0.0 to +999999.999) 
This parameter sets a tolerance value for a program created using 
miniature line segments in nano smoothing. 
When 0 is set in this parameter, a minimum amount of travel in the 
increment system is regarded as a tolerance value. 
 

19582 

 

Minimum amount of travel of a block that makes a decision based on an 

angular difference between blocks for nano smoothing 

 

 

[Input type]  Setting input 

 

[Data type]  Real path 

 

[Unit of data]  mm, inch, degree (input unit) 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

 [Valid data range]  0 or positive 9 digit of minimum unit of data (refer to the standard 

parameter setting table (B)) 
(When the increment system is IS-B, 0.0 to +999999.999) 
This parameter sets the minimum amount of travel of a block that 
makes a decision based on an angular difference between blocks for 
nano smoothing. A block that specifies an amount of travel less than 
the value set in this parameter makes no decision based on an angular 
difference. 
When 0 is set in this parameter, a decision based on an angular 
difference is made with all blocks. 
A value greater than the value set in parameter No. 8490 for making a 
decision based on the minimum travel distance of a block must be set. 
 

19587 

 

Tolerance of rotary axes for nano smoothing 2 

 

 

[Input type]  Setting input 

 

[Data type]  Real axis 

 

[Unit of data]  degree (input unit) 

 

[Minimum unit of data]  Depend on the increment system of the reference axis 

 [Valid data range]  0 or positive 9 digit of minimum unit of data (refer to the standard 

parameter setting table (B)) 
(When the increment system is IS-B, 0.0 - +999999.999) 
This parameter sets the tolerance of rotation axes in a program created 
using small line segments in nano smoothing 2. This parameter is 
valid only for the rotation axes specified in nano smoothing 2. 
When 0 is set in this parameter, a minimum amount of travel in the 
increment system is regarded as a tolerance value.