SETUP CONTINUOUS TURN SCREEN


SETUP CONTINUOUS TURN SCREEN

There are three system variables that control the use of continuous turn. You can modify the values of these system variables from the continuous turn setup screen.

After loading continuous turn, you must modify the system variables for each motion group, in order to enable the option.

Table 1.  SETUP Continuous Turn Screen Items

ITEM DESCRIPTION

Group

This item indicates the number of the group.

Continuous Turn Axis Num

This item indicates which axis in the group has continuous turn enabled. Zero means continuous turn is completely disabled for the specified group.

Numerator of Gear Ratio

This item indicates the exact integer value of the gear ratio numerator, for the continuous turn axis.

Denominator of Gear Ratio

This item indicates the exact integer value of the denominator of the gear ratio for the continuous turn axis.

Procedure 1.  Enabling Continuous Turn

Conditions

  • The continuous turn option has been installed. Refer to the appropriate controller-specific FANUC America Corporation Software Installation Manual for more information.

Steps

  1. Select SETUP from the teach pendant main menu.

  2. If no other options are loaded, you will be presented with the continuous turn setup screen. Go to Step 3 .

    OR

    If other options are loaded,

    1. Press F1, [TYPE].

    2. Select Cont. Turn. You will see a screen similar to the following.

    SETUP Continuous Turn      G1     JOINT 10% 
    1: Group: 1 
    2: Continuous Turn Axis Num:   0 
    3: Numerator of Gear Ratio:   0 
    4: Denominator of Gear Ratio  0
    

    Warning

    Never change continuous turn system variables outside of the setup menu. Bypassing the setup menu can corrupt the controller.

  3. Select Continuous Turn Axis Num:

    This field indicates which axis in the group has continuous turn enabled. Zero means continuous turn is completely disabled for the specified group.

  4. Enter the robot axis number that you want to have continuous turn. Only the last axis of a robot or an extended axes can have continuous turn.

    After you type a continuous turn axis number, the value of $PARAM_GROUP[i].$contaxisnum is set.

  5. Select Numerator of Gear Ratio:

    This field indicates the exact integer value of the gear ratio numerator, for the continuous turn axis.

    The gear ratio for the continuous turn axis is specified by:

    cn_gear_n1/cn_gear_n2

    where

    • typically cn_gear_n1>cn_gear_n2.

    • cn_ gear_n1 gives the number of motor revolutions per cn_gear_n2 revolutions of the joint.

    • The maximum value is 2147483646.

    • gear ratios must be less than 4000 (cn_gear_n1/cn_gear_n2<4000).

      This sets the value of $PARAM_GROUP[i].$cn_gear_n1.

  6. Select Denominator of the Gear Ratio:

    This field indicates the exact integer value of the denominator of the gear ratio for the continuous turn axis.

    The gear ratio for the continuous turn axis is specified by:

    cn_gear_n1/cn_gear_n2

    where

    • typically cn_gear_n1>cn_gear_n2.

    • The maximum value is 2147483646.

      This sets the value of $PARAM_GROUP[i].$cn_gear_n2.

  7. When you have finished changing the system variable values, press F4, DONE. The changes will then automatically take effect.

  8. You must perform a Cold start to complete setup. A message will be displayed telling you when to do so.