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FANUC Series 16i 18i 21i-TATB Outputting Signal Near End Point

This document describes a function that outputs signal DEN2 when a tool approaches the end point of a motion block within a tolerable distance. The tolerable distance is defined using address ",Q" in the block along with an M-code. When the remaining distance to travel is less than the tolerable distance, DEN2 is output, allowing the M-code to trigger early. Parameters control whether the distance is based on all axes or just the longest, and whether ",Q" defines a distance or coordinate.

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575 views3 pages

FANUC Series 16i 18i 21i-TATB Outputting Signal Near End Point

This document describes a function that outputs signal DEN2 when a tool approaches the end point of a motion block within a tolerable distance. The tolerable distance is defined using address ",Q" in the block along with an M-code. When the remaining distance to travel is less than the tolerable distance, DEN2 is output, allowing the M-code to trigger early. Parameters control whether the distance is based on all axes or just the longest, and whether ",Q" defines a distance or coordinate.

Uploaded by

mahdi elmay
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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FANUC Series 16i /18i / 21i–TA/TB

Outputting Signal near End Point

FANUC Series 16i /18i /21i –TA/TB


Title Outputting Signal near End point

Draw
No.
A-59854

Edit Date Design Description Sheet 1/3


Date Desig. Apprv.
Outline

This function outputs the signal DEN2 when the tool approaches to the end
point of a rapid traverse (G00) or linear interpolation (G01) block where a
miscellaneous function (M–code) and a tolerable distance are commanded.
As the miscellaneous function can be triggered near the end point by using the
DEN2, it shortens the execution time.

Format

G00
Motion Command , Q_ M_ ;
G01

Motion Command : Ordinary Motion Command


Q : Tolerable Distance
M : Ordinary miscellaneous function

Explanation
The miscellaneous function (M–code) and the tolerable distance ”,Q” are
commanded on the rapid traverse (G00) or linear interpolation (G01) block.
The command unit of ”,Q” is the input increment. The decimal point is
permitted in ”,Q”. When ”the distance to go” of the longest motion axis
decreases to the tolerable distance defined by ”,Q”, the signal DEN2 which
means the nearness of the end point is output. The tolerable distance of the
longest motion is defined by the following formula.
Tolerable distance of longest motion =
distance of longest motion
Command of , Q ×
Block distance

Program Example
G01 U60.0 W50.0 ,Q10.0 M123 ;
( in case of parameter QAB=0 , QLG=0 )

X
8.58 Tolerable distance

50
= 10.0 ×
58.3

30

Z
50

DEN2 is output

FANUC Series 16i /18i /21i –TA/TB


Title Outputting Signal near End point

Draw
No.
A-59854

Edit Date Design Description Sheet 2/3


Date Desig. Apprv.
Parameter

#7 #6 #5 #4 #3 #2 #1 #0
3405 QAB QLG PPS

[Data type] Bit

PPS The outputting signal near end point function is:


0 : Not used
1 : Used

QLG When the outputting signal near end point function is used, the remaining
distance to be traveled specified in address “,Q” is:
0 : The combined distance of all axes
1 : The distance of the longest axis

NOTE
This parameter is valid when bit 7 (QAB) of parameter No.3405 = 0.

QAB When the outputting signal near end point function is used, address “,Q”
specifies:
0 : Remaining distance to be traveled
1 : Coordinate value of the longest axis

Signal
#7 #6 #5 #4 #3 #2 #1 #0
F001 DEN2

DEN2 The signal near end point

NOTE
1 The special M–codes which are managed internally such as M98 and M99, are
not used for M–codes of this function.
2.This function is not used during the multiple turning cycles.
3 The DEN2 keeps on till the completion signal (FIN) for the miscellaneous
function turns on. When the FIN inputs before reaching the end, the distribution
end signal (DEN) is not output at the end.
4 When the function is used on the rapid traverse block of the simultaneous axes
motion, there may be the error between the tolerance distance and the actual
point where the DEN2 is output.

FANUC Series 16i /18i /21i –TA/TB


Title Outputting Signal near End point

Draw
No.
A-59854

Edit Date Design Description Sheet 3/3


Date Desig. Apprv.

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