FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 294
E.NOMOGRAPHS
APPENDIX
B-63944EN/03
- 2308 -
- Initial value calculation
Y
0
X
0
V
0
Fig. E.3 (c) Initial value
The initial value when cornering begins, that is, the X and Y
coordinates at the end of command distribution by the controller, is
determined by the feedrate and the positioning system time constant of
the servo motor.
T
1
: Exponential acceleration/deceleration time constant. (T=0)
T
2
: Time constant of positioning system (Inverse of position loop gain)
- Analysis of corner tool path
The equations below represent the feedrate for the corner section in
X-axis direction and Y-axis direction.
Therefore, the coordinates of the tool path at time t are calculated from
the following equations:
)
T
T
(
V
X
X
2
1
1
0
+
=
)
T
T
(
V
Y
Y
2
1
1
0
+
=
]
V
)}
T
t
exp(
T
)
T
t
exp(
T
{
T
T
V
)[
V
V
(
V
X
X
X
X
)
t
(
X
1
2
2
1
1
2
1
1
1
2
1
+
−
−
−
−
−
−
=
)}]
T
t
exp(
T
)
T
t
exp(
T
{
T
T
V
[
V
X
X
2
2
1
1
2
1
1
2
1
−
−
−
−
−
=
2
2
2
1
1
2
1
2
1
Y
Y
Y
)
t
(
Y
V
)}
T
t
exp(
T
)
T
t
exp(
T
{
T
T
V
V
V
+
−
−
−
−
−
=
0
1
0
X
dt
)
t
(
V
)
t
(
X
X
−
=
∫
)
t
T
T
(
V
)}
T
t
exp(
T
)
T
t
exp(
T
{
T
T
V
V
X
X
X
−
+
−
−
−
−
−
−
=
2
1
2
2
2
2
1
2
1
2
1
1
2
0
1
0
Y
dt
)
t
(
V
)
t
(
Y
Y
−
=
∫
)
t
T
T
(
V
)}
T
t
exp(
T
)
T
t
exp(
T
{
T
T
V
V
Y
Y
Y
−
+
−
−
−
−
−
−
=
2
1
2
2
2
2
1
2
1
2
1
1
2