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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 162

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

10)

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

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

valid

11)

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 the superimposed control (with speed control)

12)

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 function is valid

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

Signal

Time constant of acceleration / deceleration after interpolation for rapid traverse

switching signals RTC2, RTC3 <Gn599.6, Gn599.7>

[Classification] Input signal

[Function] It changes to selected the kind of a time constant of acceleration / deceleration after

interpolation for rapid traverse.

[Operation] The time constant of acceleration/deceleration after interpolation for rapid traverse is

switched as the following table.

Table 7.2.10 (e) Switching the time constant of acc/dec after interpolation for rapid traverse

RTC2

<Gn599.6>

RTC3

<Gn599.7>

BRT

(No.25750#0)

time constant of

acc/dec after

interpolation for

rapid traverse

time constant of

acc/dec after

interpolation of

acc/dec before

interpolation in rapid

traverse

No.1620, No.1621

No.11242

No.1674, No.1675

No.11242

No.1676, No.1677

No.11242

No.1674, No.1675

No.11242

No.1620, No.1621

No.11242

No.1674, No.1675

No.25751

No.1676, No.1677

No.25752

No.1674, No.1675

No.25751

Time constant of acceleration / deceleration after interpolation for cutting feed

switching signals CTC2, CTC3 <Gn599.4, Gn599.5>

[Classification] Input signal

[Function] It changes to selected the kind of a time constant of acceleration / deceleration after

interpolation for cutting feed.

[Operation] Time constant of acceleration/deceleration after interpolation for cutting feed is switched

as the following table.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

Table 7.2.10 (f) Switching the time constant of acc/dec after interpolation for cutting feed

CTC2

<Gn599.4>

CTC3

<Gn599.5>

BCT

(No.25750#1)

time constant of

acc/dec after

interpolation for

cutting feed

time constant of

acc/dec after cutting

feed interpolation in

the acc/dec before

interpolation mode

No.1622

No.1769

No.1678

No.1769

No.1679

No.1769

No.1678

No.1769

No.1622

No.1769

No.1678

No.25753

No.1679

No.25754

No.1678

No.25753

Time constant of acceleration / deceleration after interpolation for rapid traverse

switching confirmation signals RTC2O, RTC3O <Fn599.6, Fn599.7>

[Classification] Output signal

[Function] These signals indicate that the change to a time constant of acceleration / deceleration

after interpolation for rapid traverse for this function is valid.

[Operation] These signals are set to “1” when time constant for rapid traverse switching is valid.

These signals are set to “0” when time constant for rapid traverse switching is invalid.

RTC2O and RTC3O support as follows.

RTC2O: The second time constant for rapid traverse (Parameter Nos. 1674 and 1675)

RTC3O: The third time constant for rapid traverse (Parameter Nos. 1676 and 1677)

NOTE

When the usual time constant of acceleration / deceleration after
interpolation for rapid traverse is not used even if these signals are
“1”, a time constant for rapid traverse for this function is invalid.

Time constant of acceleration / deceleration after interpolation for cutting feed
switching confirmation signals CTC2O, CTC3O <Fn599.4, Fn599.5>

[Classification] Output signal

[Function] These signals indicate that the change to a time constant of acceleration / deceleration

after interpolation for cutting feed for this function is valid.

[Operation] These signals are set to “1” when time constant for cutting feed switching is valid.

These signals are set to “0” when time constant for cutting feed switching is invalid.

CTC2O and CTC3O support as follows.

CTC2O: The second time constant for cutting feed (Parameter No. 1678)

CTC3O: The third time constant for cutting feed (Parameter No. 1679)

NOTE

When the usual time constant of acceleration / deceleration after
interpolation for cutting feed is not used even if these signals are
“1”, a time constant for cutting feed for this function is invalid.

Signal address

Gn599

RTC3

RTC2

CTC3

CTC2

Fn599

RTC3O

RTC2O

CTC3O

CTC2O

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Parameter

The parameter used by this function is shown as follows.

1674

The second time constant T or T1 of linear acceleration / deceleration or

bell-shaped acceleration / deceleration for rapid traverse for each axis

1676

The third time constant T or T1 of linear acceleration / deceleration or

bell-shaped acceleration / deceleration for rapid traverse for each axis

[Input type] Parameter input

[Data type] Word axis

[Data unit] msec

[Data range] -1 to 4000

Specify the second or the third time constant of acceleration / deceleration after
interpolation for rapid traverse for each axis. As for the axis for which this parameter is
set values of -1 or beyond the range, the second or the third time constant for rapid
traverse is invalid.

NOTE

If bit 6 (CTC) of parameter No. 11502 is 1, this parameter is written
during moving axes.

1675

The second time constant T

of bell-shaped acceleration / deceleration for rapid traverse for each axis

1677

The third time constant T

of bell-shaped acceleration / deceleration in rapid traverse for each axis

[Input type] Parameter input

[Data type] Word axis

[Data unit] msec

[Data range] 0 to 512

Specify the second or the third time constant T2 used for bell-shaped of acceleration /
deceleration after interpolation for rapid traverse for each axis. When these parameters
are set values beyond the range, the specification of 0 is assumed.

1678

The second time constant of acceleration / deceleration for cutting feed for each axis

1679

The third time constant of acceleration / deceleration for cutting feed for each axis

[Input type] Parameter input

[Data type] Word axis

[Data unit] msec

[Data range] -1 to 4000

Specify the second or the third time constant of acceleration / deceleration after
interpolation for cutting feed for each axis. As for the axis for which these parameters are
set values -1 or beyond the range, the second or the third time constant for cutting feed is
invalid.

25750

BCT

BRT

[Input type] Parameter input

[Data type] Bit path

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

#0 BRT

By time constant of acceleration/deceleration after interpolation for rapid traverse

switching signals

RTC2, RTC3 <Gn599.6, Gn599.7>, time constant of

acceleration/deceleration after interpolation of acceleration/deceleration before
interpolation in rapid traverse is:
0:

not switched.

switched.

#1 BCT

By time constant of acceleration/deceleration after interpolation for cutting feed

switching signals

CTC2, CTC3 <Gn599.4, Gn599.5>, time constant of

acceleration/deceleration after cutting feed interpolation in the acceleration/deceleration
before interpolation mode is:
0:

not switched.

switched.

25751

the second time constant of acceleration/deceleration after interpolation of acceleration/deceleration

before interpolation in rapid traverse for each axis

25752

the third time constant of acceleration/deceleration after interpolation of acceleration/deceleration

before interpolation in rapid traverse for each axis

[Input type] Parameter input

[Data type] Word axis

[Data unit] msec

[Data range] -1 to 4000

Set the second or third time constant of acceleration/deceleration after interpolation of
acceleration/deceleration before interpolation in rapid traverse for each axis.
When the parameter 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.

25753

the second time constant of acceleration/deceleration after cutting feed interpolation in the

acceleration/deceleration before interpolation mode for each axis

25754

the third time constant of acceleration/deceleration after cutting feed interpolation in the

acceleration/deceleration before interpolation mode for each axis

[Input type] Parameter input

[Data type] Word axis

[Data unit] msec

[Data range] -1 to 4000

Set the second or third time constant of acceleration/deceleration after cutting feed
interpolation in the acceleration/deceleration before interpolation mode for each axis.
When the parameter 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.

7.2.11

Servo loop gain / in-position width switching function by
signal

Overview

Servo loop gain / in-position width can be switched by input signal of PMC.

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Explanation

In this function, servo loop gain and in-position width can be switched to either of the two following
kinds by servo loop gain/in-position width switching signal GIS <Gn599.3>.
-

The usual servo loop gain (Parameter No. 1825), the usual in-position width (Parameter Nos. 1826
and 1827)

The second servo loop gain (Parameter No. 11814), the second in-position width (Parameter Nos.
11815 and 11816)

Example of time chart for servo loop gain / in-position width switching

Confirm an effective parameter by servo loop gain / in-position width switching confirmation signal
GISO.

Note

1) If -1 is set to parameters No. 11814 or a value not within the valid data range is specified in this

parameter, the switching of servo loop gain is invalid in its axis.

2) If -1 is set to parameters No. 11815 or a value not within the valid data range is specified in this

parameter, the switching of in-position width is invalid in its axis.

3) If -1 is set to parameters No. 11816 or a value not within the valid data range is specified in this

parameter, the switching of in-position width for cutting is invalid in its axis.

4) To switch servo loop gain and in-position width, all the valid axes should stop. When the axis has not

stopped, servo loop gain and in-position width are switched after stopping all the valid axes.

5) The following tables show using with other functions.

Table 7.2.11 (a) Using with other functions

Function name

Description

Spindle speed function

Because servo loop gain is not used as for spindle motor, this function becomes
invalid.

Positioning by optimum
accelerations

When this function is valid, positioning by optimum accelerations is invalid.
When this function is switched when positioning by optimum accelerations is valid,
this function is valid after stopping all the valid axes.

Cs contour control

In Cs contour control, this function is invalid.

Setting axes for interpolation
with a Cs contour control axis

When this function is valid, setting axes for interpolation with a Cs contour control
axis is invalid. When this function is switched when servo loop gain is switched by
setting axes for interpolation with a Cs contour control axis, servo loop gain of this
function is valid after stopping all the valid axes.

Spindle positioning

In spindle positioning, this function is invalid.

Rigid tapping

In the spindle of rigid tapping, this function is invalid.
In the drilling axis of rigid tapping, this function is invalid.

Index table indexing

As for the control axis set to parameter No.5510 as index table indexing, this
function is invalid.

Electronic gear box (EGB)

In electronic gear box, this function is invalid.

Servo loop gain / in-position width
switching signal
GIS<Gn599.3>

Servo loop gain / in-position width
switching confirmation signal
GISO<Fn599.3>

No.1825, No.1826
No.1827

Switching state of
the parameter of a valid

No.11814, No.11815
No.11816

No.1825, No.1826
No.1827

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

The use example is shown as follows. Only servo loop gain is described in the use example, and when
servo loop gain of this function is valid, in-position width of this function is valid, too.

- Positioning by optimum accelerations

In X axis, Y axis, and Z axis, positioning by optimum accelerations is valid axes.

Program

Description

O0001 ;

Optimum accelerations is valid

G00X50.0 ;
Y50.0 ;
Z50.0 ;
Mxx ;

Servo loop gain / in-position width switching signal GIS<Gn599.3>=”1”

X100.0 ;

This function is valid, Optimum accelerations is invalid

Y100.0 ;
Z100.0 ;
Myy ;

Servo loop gain / in-position width switching signal GIS<Gn599.3>=”0”

X150.0 ;

Optimum accelerations is valid

Y150.0 ;
Z150.0 ;
M30 ;

- Cs contour control axis, setting axes for interpolation with a Cs contour control axis

C axis is Cs contour control axis

、

A axis is setting axes for interpolation with a Cs contour control

axis (C axis).

Program

Description

O0002 ;

Usual servo loop gain is valid in A axis

G00A50.0 ;
A100.0 ;
Maa ;

Cs contour control mode of C axis turns on

A50.0 C50.0 ;

Setting axes for interpolation with a Cs contour control axis is valid in A axis

A0.0 C100.0 ;
Mxx ;

Servo loop gain / in-position width switching signal GIS<Gn599.3>=”1”

A50.0 ;

In A axis, this function is valid, setting axes for interpolation with a Cs contour
control axis is invalid

C50.0 ;
Myy ;

Servo loop gain / in-position width switching signal GIS<Gn599.3>=”0”

A100.0 C0.0 ;

Setting axes for interpolation with a Cs contour control axis is valid in A axis

A50.0 C50.0 ;
Mbb ;

Cs contour control mode of C axis turns off

A0.0 ;

Usual servo loop gain is valid in A axis

M30 ;

* As for C axis, this function always is invalid because of the spindle motor.

It is not changed to the servo loop gain of this function when there is a control axis by which this
function is invalid by the other functions, and there is a possibility not to be able to interpolate
correctly.

Signal

Servo loop gain / in-position width switching signal GIS<Gn599.3>

[Classification] Input signal

[Function] It switches servo loop gain and in-position width.

[Operation] - When GIS is “0”, it switches to the usual servo loop gain (Parameter No.1825), the

usual in-position width (Parameter Nos.1826 and 1827).

- When GIS is “1”, it switches to the second servo loop gain (Parameter No.11814), the

second in-position width (Parameter Nos.11815 and 11816).

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7. FEEDRATE CONTROL/ACCELERATION AND

DECELERATION CONTROL

Servo loop gain / in-position width switching confirmation signal GISO<Fn599.3>

[Classification] Output signal

[Function] This signal indicates that the change to servo loop gain / in-position width for this

function is valid.

[Output condition] This signal is set to “1” when servo loop gain / in-position width switching function by

signal is valid. This signal is set to “0” when servo loop gain / in-position width switching
function by signal is invalid.

NOTE

When the usual servo loop gain / in-position width is not used even
if this signal is “1”, servo loop gain / in-position width for this
function is invalid.

Signal address

Gn599

GIS

Fn599

GISO

Parameter

The parameter used by this function is shown as follows.

11814

The second servo loop gain for each axis

[Input type] Parameter input

[Data type] Word axis

[Data unit] 0.01/sec

[Data range] -1, 1 to 9999

Specify the second servo loop gain for each axis.
As for the axis for which this parameter is set values of -1 or beyond the range, the
second servo loop gain is invalid.

11815

The second in-position width for each axis

[Input type] Parameter input

[Data type] 2-word axis

[Data unit] Detection unit

[Data range] -1 to 99999999

Specify the second in-position width for each axis.
As for the axis for which this parameter is set values of -1 or beyond the range, the
second in-position width is invalid.

11816

The second in-position width in cutting for each axis

[Input type] Parameter input

[Data type] 2-word axis

[Data unit] Detection unit

[Data range] -1 to 99999999

Specify the second in-position width in cutting for each axis.
As for the axis for which this parameter is set values of -1 or beyond the range, the
second in-position width in cutting is invalid.

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7. FEEDRATE CONTROL/ACCELERATION

AND DECELERATION CONTROL

7.2.12

IN-ACCELERATION/DECELERATION SIGNAL

Overview

During deceleration in a block for cutting feed, the in-acceleration/deceleration signal ACDEC<Fn520.3>
is output to the machine.

Explanation

If deceleration is performed in a block for cutting feed (G01, G02, G03), the in-acceleration/deceleration
signal ACDEC<Fn520.3> is output to the machine during deceleration. For the time set in parameter No.
1650 after the execution  of the next block  (or  the  remaining  movement  of the current  block) is started
upon completion of deceleration, the ACDEC signal continues to be output. The ACDEC signal is turned
off when the set time has elapsed.
In this case, deceleration means any of the cases indicated below.
That is, during execution  of a block  for  cutting  feed  (G01, G02, G03), deceleration  is  specified  to
decrease the speed to 0 by any of the following:

(1)  Interlock
(2)  Override 0%
(3)  Single-block stop
(4)  Automatic operation stop by feed hold
(5)  Exact stop check
(6)  The next block neither specifies cutting feed nor movement.

During deceleration in such a case, the ACDEC is output.

ACDE

Time set in parameter No. 1650

Programmed path

Actual path

Fig.7.2.12 (a) In-acceleration/deceleration signal

For example, if interlock is applied during cutting feed, the ACDEC signal is output. The ACDEC signal
is turned off when the time set in parameter No. 1650 has elapsed after interlock is canceled. If the block
after the output of the ACDEC signal is a block not specifying cutting feed, such as a block specifying

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