TECHNICAL REPORT (MANUAL) No.

TMN 01/174E

Date : Nov. 21, 2001

General Manager of
Software Development Center

FANUC Series 16i/18i-MA/MB

Improvement of AI High Precision Contour Control function /
AI NANO High Precision Contour Control function (Rapid Traverse)

1. Communicate this report to:

Your information only

GE Fanuc-N, GE Fanuc-E
FANUC Robotics
MILACRON
Machine tool builder
Sales agency
End user

2. Summary for Sales Documents

3. Notice

4. Attached Document

Drawing No. A-78401E (1/3-3/3)

No. SC1G-01/B200
Copy : SC6G, SC1G Date Nov. 21, 2001

IDE Original section of issue

Vice-General
Supervisor
Manager
 FANUC Series 16i/18i-MA/MB

Improvement of AI High Precision Contour Control function /

AI NANO High Precision Contour Control function
(Rapid traverse)

Specifications

1. General 2
2. Parameter 2

<NOTE>
This specification may be modified for improvement without notice.

FANUC Series 16i/18i-MA/MB

TITLE Improvement of AI High Precision Contour
Control function / AI NANO High Precision
Contour Control function (Rapid traverse)

01 01.11.20 Newly Registered No. A-78401E

EDT. DATE DESIGN DESCRIPTION PAGE 1/3

 Improvement of AI High Precision Contour Control function / AI NANO High Precision
Contour Control function (Rapid traverse)

General
Non-linear type positioning is enabled at rapid traverse during AI High
Precision Contour Control / AI NANO High Precision Contour Control function
though only linear interpolation type positioning was effective. Also, the
acceleration/
deceleration after interpolation is enabled though only
acceleration/deceleration before interpolation was effective.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
19501 FRP

[Data type] Bit

#5 FRP Acceleration/deceleration for rapid traverse in AI High Precision Contour

Control / AI NANO High Precision Contour Control mode is:
0: Acceleration/deceleration after interpolation
1: Acceleration/deceleration before interpolation
In case of this parameter “1”, linear interpolation type rapid traverse is
selected regardless of parameter LRP(No.1401#1).
By setting both parameter bit FRP(No.19501#5) and FAP(No.19540#0) to “1”
and setting the reference acceleration parameter (No. 1420 and No.1773) for
any one axis to a non-zero value, the acceleration/deceleration for rapid
traverse in AI High Precision Contour Control / AI NANO High Precision
Contour Control will be optimum torque acceleration/deceleration. When
Optimum torque acceleration/deceleration is enabled, linear type positioning
for rapid traverse is selected automatically even if the parameter LRP(No.
1401#1) is set to “0” (nonlinear type is selected).

#7 #6 #5 #4 #3 #2 #1 #0
1401 LRP

[Data type] Bit

#1 LRP Positioning(G00)
0: Positioning is performed with non-linear type positioning so that the tool
moves along each axis independently at rapid traverse.
1: Positioning is performed with linear interpolation.

FANUC Series 16i/18i-MA/MB

TITLE Improvement of AI High Precision Contour
Control function / AI NANO High Precision
Contour Control function (Rapid traverse)

01 01.11.20 Newly Registered No. A-78401E

EDT. DATE DESIGN DESCRIPTION PAGE 2/3

 #7 #6 #5 #4 #3 #2 #1 #0
1603 RPT

[Data type] Bit

#1 RPT The accelaration/deceleration of interpolation-type rapid traverse is

performed:
0: With a constant inclination.
1: With a constant time.

NOTE
Only when parameter LRP(No.1401#1) is ”1”.
The acceleration/deceleration time constant and override for rapid
traverse are used.

#7 #6 #5 #4 #3 #2 #1 #0
19504 HRB

[Data type] Bit

#0 HRB Acceleration/deceleration for rapid traverse in AI High Precision Contour

Control / AI NANO High Precision Contour Control mode is:
0: Linear acceleration/deceleration
1: Bell-shaped Acceleration/deceleration
Bell-shaped acceleration/decelaration is selected by setting this parameter to
1 and the acceleration change time of bell-shaped acceleration/deceleration
is set to parameter No.1774.

FANUC Series 16i/18i-MA/MB

TITLE Improvement of AI High Precision Contour
Control function / AI NANO High Precision
Contour Control function (Rapid traverse)

01 01.11.20 Newly Registered No. A-78401E

EDT. DATE DESIGN DESCRIPTION PAGE 3/3