FANUC Series 16i/18i-TB

FANUC Series 16i/18i/21i-MB

Machining condition selecting function

Specifications

1.1 Outline ...................................................................................................................................................2

1.2 Specifications .......................................................................................................................................3

Outline...................................................................................................................................................................3

The machining parameter setting screen...........................................................................................................4

The precision level selection screen ....................................................................................................................6

The soft-key location of machining condintion selecting function ( the machining parameter setting screen

and the precision level selection screen) ............................................................................................................7

Precision level selection by program...................................................................................................................8

The explanation of each machining adjustment item........................................................................................9

1.3 Parameters ..........................................................................................................................................21

1.4 Alarms and messages .......................................................................................................................31

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
1/31
2002/03/11 T.Inagaki E.Genma
 1.1 Outline
On high-speed high-precision machining functions, parameters on LV1(the
highest priority to velocity) and LV10(the highest priority to precision) can be
set, and the precision level can be selected according to the machining
condition.
As a result, proper parameters for the machining condition are automatically
calculated and set, and machining is executed with this setting.

This function is optional function.

High-speed high-precision machining functions are as follows.
・ Advanced preview control, AI contour control, AI advanced preview
control and AI-nano contour control (Without RISC board)
・ High precision contour control, AI high precision contour control, and AI-
nano high precision contour control (With RISC board)

Caution
This function is unavailable on inch system machine.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
2/31
2002/03/11 T.Inagaki E.Genma
 1.2 Specifications
Outline
This function contains two kinds of screens.

The machining parameter setting screen.

On each level (LV1 (the highest priority to velocity) and LV10 (the highest
priority to precision)), following kinds of parameters can be set.

- The acceleration for linear acceleration/deceleration before interpolation

- The acceleration change time for bell-shaped acc/dec before interpolation.
- The allowable acceleration difference for each axis (Jerk control)
- The allowable acceleration difference for each axis (Jerk control in
continuously linear segments)
- The time differential rate of acceleration(smooth bell-shaped
acceleration/deceleration before interpolation)
- Max allowable acceleration.
- Time constant for acc/dec after cutting feed interpolation
- Allowable difference for the speed difference based corner deceleration
function
- Maximum cutting feedrate
- 2 items which can be set freely by customers

Two kinds of screens are prepared for high-speed high-precision machining

without RISC board (Advanced preview control (APC), AI contour control
(AICC), AI advanced preview control (AI-APC), and AI-nano contour control
(AI-nano)), and with RISC board (High precision contour control (HPCC), AI
high precision contour control (AI-HPCC), and AI-nano high precision
contour control (AI-nano-HPCC)). And on each screen, respective parameters
can be set.

The precision level selection screen.

The precision level according to the machining condition can be set. From the
parameters of LV1 (the highest priority to velocity) and the parameters of
LV10 (the highest priority to precision), the parameters according to the
precision level are automatically calculated and displayed.
The precision level can be changed by the program command.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
3/31
2002/03/11 T.Inagaki E.Genma
 Caution
1. The acceleration change time for bell-shaped acc/dec before
interpolation is available only when the optional function, bell-shaped
acc/dec before interpolation, is available.
2. On APC mode, automatic velocity control considering acc/dec is not
effective. Feedrate clamp by circular radius is effective only when
Prm.13600#0(MCR) is set to 0.
3. The three items, which have relevance to Jerk control or smooth bell
acc/dec before interpolation, are availabel only when the optional
function, Jerk control, is available.

The machining parameter

setting screen
LV1(the highest priority to velocity) and LV10(the highest priority to
precision) parameters per each items can be set on this screen. This screen can
be displayed by following operation.
Function key <SYSTEM>→soft key [>](for several times)
→soft key[M-TUN]
From the parameter tuning screen, by selecting the menu "APC/AI TUNING"
or "HPCC TUNING", this screen can be displayed.
By setting parameter No.13601#0(CPR) to '1', the machining parameter setting
screen is not displayed.

Fig.1 The machining parameter setting screen

Parameters of LV1(the highest priority to velocity) and of LV10(the highest

priority to precision) can be changed only when "PARAMETER
WRITE(PWE)" in setting data is set to '1'.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
4/31
2002/03/11 T.Inagaki E.Genma
 On this screen, when softkey [INIT]→[EXEC] is pushed, the item selected by
cursor (either LV1 or LV10) is changed to initial value prepared in CNC.
When [G_INIT]→[EXEC] is pushed, whole items of cursor-selected axis
(either LV1 or LV10 which is selected by cursor) are changed to initial values
prepared in CNC. (This action is available only when "PARAMETER
WRITE(PWE)" in setting data is set to '1'.)
Initial values are as follows. (Fig.2)

Setting items APC/AICC/AI-nano HPCC/AI-HPCC/ Unit

AI-nano HPCC)
Priority Velocity Precision Velocity Precision
(LV1) (LV10) (LV1) (LV10)
2
Acceleration before interpolation 4902.000 1042.000 4902.000 1042.000 mm/sec
Acceleration change time(bell) 32 64 32 64 Msec
2
Jerk acceleration difference 0 0 0 0 mm/sec
2
Jerk acceleration difference (continuously linear 0 0 0 0 mm/sec
segments)
Jerk acceleration change ratio 0 0 0 0 %
2
Max allowable acceleration 2977.000 596.000 2977.000 596.000 mm/sec
Time constant for acc/dec after interpolation 24 24 24 24 Msec
Corner feedrate difference 1000 400 1000 400 mm/min
Maximum cutting feedrate 10000 10000 10000 10000 mm/min
Fig.2 The value of normal parameter.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
5/31
2002/03/11 T.Inagaki E.Genma
 The precision level selection
screen
The precision level selection screen can be select level between LV1(the
highest priority to velocity) to LV10(the highest priority to precision). Each
items of value between LV1 and LV10 are in direct proportion like Fig.4, and
we can select the most suitable value.
This screen can be displayed by following operation.
Function key <OFFSET/SETTING>→soft key [>](for several times)
→soft key [PR-LEV]

The structure of level selection screen is as follows.

Fig.3 Precision level selection screen

The values of precision levels are maintained even if CNC is powered off.
(These are maintained on parameter No.13634 and No.13680.)
The initial value of level is '1'. The level can be changed even when
"PARAMETER WRITE(PWE)" in setting data is set to '0' or the machining
parameter setting screen is not displayed. (No.13601#0(CPR)=1)

Value

Effect value

Fig.4 PRECISION LEVEL

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
6/31
2002/03/11 T.Inagaki E.Genma
 The soft-key location of machining
condintion selecting function
( the machining parameter setting
screen and the precision level
selection screen)
The location of softkey, used on the machining condition selecting function, is
as follows.

SYS
TEM
｜
├―[M-TUN ]
｜ ├―[PRV/AI] :The machining parameter setting screen of APC/AICC.
｜ │ └―[(OPRT)]
｜ ｜ ├―[ INIT ] :Initializing the value of cursor-selected item.
｜ ｜ │ ├[ EXEC ]
｜ ｜ │ └[ CAN ]
｜ ｜ └―[G_INIT] :Initializing whole items of cursor-selected axis(either LV1 or LV10).
｜ ｜ ├[ EXEC ]
｜ ｜ └[ CAN ]
｜ └―[ HPCC ] : The machining parameter setting screen of HPCC/AI-HPCC.
｜ └―[(OPRT)]
｜ └(omission) The rest soft-key is omitted.

SET
ING
｜
├―[PR-LEV]
｜ ├―[PRV/AI] :The precision level selection screen.(APC/AICC)
｜ └―[ HPCC ] :The precision level selection screen.(HPCC/AI-HPCC)

Fig.5 The location of soft-key

Caution
1. This function is available only when optional function, APC/AICC/AI-
APC/AI-nano/HPCC/AI-HPCC/AI-nano HPCC, is exist.
2. The item, "ACC CHANGE TIME(BELL)" on APC/AICC/AI-APC/AI-nano,
is displayed only when "Bell-type acc/dec before cutting feed
interpolation" is available.
3. Parameters equivalent to precision level are changed when,
– precision level was changed.
– the item of LV1(the highest priority to velocity)/LV10(the highest
priority to precision) was changed.(including the execution of soft-key
[ INIT ] or [G_INIT])

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
7/31
2002/03/11 T.Inagaki E.Genma
 4. When the parameter equivalent to precision level is changed, the
effected item value is changed as parameter is changed. (It may differ
from the parameter calculated by level selection).
5. When [G_INIT]→[EXEC] is pushed, whole items of cursor-selected axis
(either LV1 or LV10 which is selected by cursor) are changed to initial
values prepared in CNC. But it is impossible to change both initial
values, LV1 and LV10.
6. When some value on machining parameter setting screen or on the
precision level selection screen is changed, target parameters are
automatically calculated and changed. If proportional calculation is
failed, the warning "AUTO-TUNING FAILED" is generated.
7. When target parameter is common to APC/AICC/AI-APC/AI-nano and
HPCC/AI-HPCC/AI-nano-HPCC, and when one of precision level is
changed, target parameter becomes effective on both APC/AICC/AI-
APC/AI-nano and HPCC/AI-HPCC/AI-nano-HPCC.
8. Setting items of PMC axis can be neither displayed nor changed on the
machining condition selecting function.
9. On APC mode of T-series, JERK items and "ACC CHANGE
TIME(BELL)" are not displayed.

Precision level selection

by program
The precision level can be changed not only on the precision level selection
screen but also by using following format of programs.

G05 P10000 Rx ; (The level selection on HPCC/AI-HPCC/

AI-nano-HPCC mode start)
x … precision level(1∼10)
G05.1 Q1 Rx ; (The level selection on AICC/AI-APC/AI-nano mode
start)
G08 P1 Rx ; (The level selection on APC mode start)
x … precision level(1∼10)

Caution
l When precision level is once commanded, it continues effective even
when the cancellation of APC/AICC/AI-nano/HPCC is specified.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

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Edit Date Description
8/31
2002/03/11 T.Inagaki E.Genma
 The explanation of each
machining adjustment item

The acceleration before cutting feed interpolation

The acceleration for linear acceleration/deceleration before interpolation is set.
(unit:1mm/sec2)
[Valid data range] : 50.000-99999.999(mm/sec2)
[Data size] : 2word(APC/AICC/AI-APC/AI-nano/HPCC)
: 2word axis (AI-HPCC/AI-nano-HPCC)

When this item is set, following parameters are changed.

[APC/AICC/AI-APC/AI-nano]
l Prm.13610(LV1 : highest priority to velocity)
l Prm.13611(LV10: highest priority to precision)
[HPCC/AI-HPCC/AI-nano HPCC]
l Prm.13660(LV1 : highest priority to velocity)
l Prm.13661(LV10: highest priority to precision)

By selecting the precision level, following parameters are set.

[APC/AICC/AI-APC/AI-nano]: Prm.1770/1771(arbitrary ratios of integer)
Prm.1770 100
Effective value = ×
Prm.1771 6

[HPCC] : Prm.8400/8401(arbitrary ratios of integer)

Prm.8400 100
Effective value = ×
Prm.8401 6

[AI-HPCC/AI-nano HPCC] : Prm.8400/19510(arbitrary ratios of integer)

Prm.8400 100
Effective value = ×
Prm.1951 6
0

Prm: 1770 : The maximum machining speed during linear (part of) acc/dec
before interpolation. (Unit: 1mm/min)
Prm: 1771 :Time used to reach the maximum machining speed during
linear acc/dec before interpolation.(Unit: 1mm/min)
Prm.8400 : Same as Prm.1770 on HPCC.
Prm.8401 : Same as Prm.1771 on HPCC/AI-HPCC/AI-nano-HPCC.
Prm.19510 : Same as Prm.1770 on AI-HPCC/AI-nano-HPCC.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
9/31
2002/03/11 T.Inagaki E.Genma
      Velocity
Max acceleration
No.1770 or
No.8400

0 No.1771 or Time
No.8401 or
No.19510

Caution
1. On APC/AICC/AI-APC/AI-nano/HPCC,this item is common to all axis.
2. On AI-HPCC/AI-nano-HPCC, this item need to be set for each axis.

The acceleration change time (bell-type)

The acceleration change time for bell-shaped acc/dec before interpolation is
set. (Unit: ms)
[Valid data range] : 0-100(ms: APC/AICC/AI-APC/AI-nano)
: 0-200(ms: HPCC)
[Data size] : Byte(APC/AICC/AI-APC/AI-nano)
: Dword(HPCC/AI-HPCC/AI-nano-HPCC)

When this item is set, following parameters are changed.

[APC/AICC/AI-APC/AI-nano]
l Prm.13612(LV1 : highest priority to velocity)
l Prm.13613(LV10: highest priority to precision)
[HPCC/AI-HPCC/AI-nano HPCC]
l Prm.13662(LV1 : highest priority to velocity)
l Prm.13663(LV10: highest priority to precision)

By selecting the precision level, following parameters are set.

[APC/AICC/AI-APC/AI-nano]
Prm.1772 : Time constant for bell-shaped acc/dec of acceleration time fine
type before look-ahead interpolation.

[HPCC/AI-HPCC/AI-nano HPCC]
Prm.8416 : Acceleration change time for look-ahead bell-shaped acc/dec
before interpolation.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

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Edit Date Description
10/31
2002/03/11 T.Inagaki E.Genma
 When this parameter is set from zero to non-zero, following parameters are
also set.
[APC/AICC/AI-APC/AI-nano]
Prm.1603#7(BEL)=1

[HPCC/AI-HPCC/AI-nano HPCC]
Prm.1603#3(SBL)=1, Prm.8402#1(NBL)=1, No.8402#7(BDO)=1

Caution
1. This item is not effective on APC mode.
2. Bell-shaped acc/dec on HPCC mode is performed with a constant
acceleration time. To perform with a constant acceleration change,
please set Prm.1603#3(SBL) to 0.
3. This item is common to all axis.

Feedrate
Linear acceleration/deceleration
Bell-shaped acc/dec

ta: Depends on linear acceleration

tb: Bell-shaped time constant
tc Bell-shaped acc/dec time
tc = ta + tb
ta is not constant, but varies with the
feedrate and time constant of a specified
axis.

Time
tb tb tb tb

ta ta

tc tc

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
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2002/03/11 T.Inagaki E.Genma
 Permissible acceleration change value for each axis in feedrate control based on acceleration changes
for jerk control
[Valid data range]
Increment system IS-B IS-C Unit of data Data range
2
Millimeter machine 0.001 0.0001 mm/sec 0∼99999999
2
Rotation axis 0.001 0.0001 deg/sec 0∼99999999

A permissible acceleration change value per ms for each axis in feedrate

control based on acceleration changes under jerk control is set.
For an axis for which this parameter is 0, feedrate control based on acceleration
changes is ineffective.
If the parameter is 0 for all axes, feedrate control based on acceleration
changes is not performed at all.

When this item is set, following parameters are changed.

[AICC/AI-nano]
l Prm.13614(LV1 : highest priority to velocity)
l Prm.13615(LV10: highest priority to precision)
[AI-HPCC/AI-nano HPCC]
l Prm.13664(LV1 : highest priority to velocity)
l Prm.13665(LV10: highest priority to precision)

By selecting the precision level, following parameters are set.

[AICC/AI-nano]
Prm.1788 : Permissible acceleration change value for each axis in feedrate
control based on acceleration changes for jerk control

[AI-HPCC/AI-nano HPCC]
Prm.19522 : Permissible acceleration change value for each axis in feedrate
control based on acceleration changes for jerk control

Caution
l On APC mode of T-Series, this item doesn't exist.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
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2002/03/11 T.Inagaki E.Genma
 Permissible acceleration change value for each axis in feedrate control based on acceleration changes
for jerk control in continuously linear segments
[Valid data range]
Increment system IS-B IS-C Unit of data Data range
2
Millimeter machine 0.001 0.0001 mm/sec 0∼99999999
2
Rotation axis 0.001 0.0001 deg/sec 0∼99999999
A permissible acceleration change value per ms for each axis in feedrate
control under jerk control is set during the continuously linear segments.
In feedrate control based on acceleration changes at a corner where linear
interpolation is commanded continuously, a permissible acceleration change
value in these parameters rather than parameters No13614/13615/13664
/13665 become effective.

Caution
1. For axes for which these parameter is 0, a permissible acceleration
change values specified in parameters No. 13614/13615/13664/13665
are effective.
2. For axes for which parameters No. 13614/13615/13664/13665 are 0,
feedrate control based on acceleration changes is ineffective, so these
parameters are meaningless.
3. On APC mode of T-Series, this item doesn't exist.

When this item is set, following parameters are changed.

[AICC/AI-nano]
l Prm.13616(LV1 : highest priority to velocity)
l Prm.13617(LV10: highest priority to precision)
[AI-HPCC/AI-nano HPCC]
l Prm.13666(LV1 : highest priority to velocity)
l Prm.13667(LV10: highest priority to precision)

By selecting the precision level, following parameters are set.

[AICC/AI-nano]
Prm.1789 : Permissible acceleration change value for each axis in feedrate
control based on acceleration changes for jerk control during
the continuously linear segments.

[AI-HPCC/AI-nano HPCC]
Prm.19523 : Permissible acceleration change value for each axis in feedrate
control based on acceleration changes for jerk control during
the continuously linear segments.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

02 020423 T.Inagaki Make an overall revision Page

Edit Date Description
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 Ratio of the jerk change time in smooth bell-shaped acceleration/deceleration before interpolation
[Unit of data] :%
[Valid data range] : 0-50
[Data size] : Byte

Specify the percent jerk change time with respect to the acceleration change
time (Parameter No. 1772) in look-ahead smooth bell-shaped acceleration/
deceleration.
If this parameter is 0 or out of the valid data range, no look-ahead smooth
bell-shaped acceleration/deceleration before interpolation is performed.

When this item is set, following parameters are changed.

[AICC/AI-nano]
l Prm.13618(LV1 : highest priority to velocity)
l Prm.13619(LV10: highest priority to precision)
[AI-HPCC/AI-nano HPCC]
l Prm.13668(LV1 : highest priority to velocity)
l Prm.13669(LV10: highest priority to precision)

By selecting the precision level, following parameters are set.

[AICC/AI-nano]
Prm.1789 : Ratio of the jerk change time in smooth bell-shaped
acceleration/deceleration before interpolation

[AI-HPCC/AI-nano HPCC]
Prm.19523 : Ratio of the jerk change time in smooth bell-shaped
acceleration/deceleration before interpolation

Caution
l On APC mode of T-Series, this item doesn't exist.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

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Edit Date Description
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 Max allowable acceleration
The allowable acceleration is set. It is used when the feedrate is determined by
acceleration.
[Valid data range] :0-99999.999(Unit: 1mm/sec2)
[Data size] :Dword axis

On HPCC/AI-HPCC/AI-nano-HPCC mode, this item is applied for acc/dec

during circular interpolation.
On APC/AICC/AI-APC/AI-nano mode, when Prm.13600#0(MCR) is set to 0,
arc radius-based feedrate clamping parameters are automatically set.

When this item is set, following parameters are changed.

[APC/AICC/AI-APC/AI-nano]
l Prm.13620(LV1 : highest priority to velocity)
l Prm.13621(LV10: highest priority to precision)
[HPCC/AI-HPCC/AI-nano HPCC]
l Prm.13670(LV1 : highest priority to velocity)
l Prm.13671(LV10: highest priority to precision)

By selecting the precision level, following parameters are set.

[APC]
(Prm.1730)2 10
Effective value = × (IS-B)
Prm.1731 36
(Prm.1730)2 100
= × (IS-C)
Prm.1731 36
Note) Parameters No.1730/1731 are automatically set only
when parameter No.13600#0(MCR) is set to '0'.

[AICC/AI-APC/AI-nano]
Prm.1432 100 (Prm.1730)2 10
Effective value = × = × (IS-B)
Prm.1785 6 Prm.1731 36
(Prm.1730)2 100
= × (IS-C)
Prm.1731 36
Note) Parameters No.1730/1731 are automatically set only
when parameter No.13600#0(MCR) is set to '0'.

[HPCC/AI-HPCC/AI-nano HPCC]
Prm.1432 100
Effective value = ×
Prm.8470 6

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

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Edit Date Description
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2002/03/11 T.Inagaki E.Genma
 Prm.1785 : Parameter for determining an allowable acceleration when the
feedrate is set by acceleration.
Prm.8470 : Parameter for determining allowable acceleration in velocity
calculation considering acceleration.
Prm.1432 : Maximum cutting feedrate on APC/AICC/AI-APC/AI-
nano/HPCC/ AI-HPCC mode. (Unit: 1mm/min)
Prm.1730 : The maximum feedrate for the arc radius set in Prm.1731.
(Unit: 1mm/min)
Prm.1731 : Arc radius corresponding to a maximum feedrate
(Unit: 0.001mm)

When this parameter is set from zero to non-zero, following parameters are
also set.
[HPCC/AI-HPCC/AI-nano HPCC]
Prm.8475#3(CIR)=1 : Automatic velocity control considering acc/dec is used
during circular interpolation.

Caution
1. If this item is set on HPCC/AI-HPCC/AI-nano-HPCC side, automatic
velocity control considering acc/dec become automatically effective
during circular interpolation. If you want to set this function ineffective,
please set Prm.8475#3(CIR) to 0.
2. On APC/AICC/AI-APC/AI-nano mode, when Prm.13600#0(MCR) is set
to 0, arc radius-based feedrate clamping parameters are automatically
set.
3. On APC mode, automatic velocity control considering acc/dec is
ineffective. Feedrate clamp by circular radius is effective only when
Prm.13600#0(MCR) is set to 0.
4. When various maximum allowable acceleration is set on each axis, the
parameters of arc radius-based feedrate clamping are set by using
minumum value except for zero (of "MAX ACCELERATION").

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

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Edit Date Description
16/31
2002/03/11 T.Inagaki E.Genma
 Time constant for acc/dec after cutting feed interpolation
The time-constant for acceleration/deceleration after cutting feed interpolation
is set. (Unit: ms) The type of acc/dec (linear / bell-shaped) is selected by
Prm.1602#3(BS2) or Prm.1602#6(LS2).
Prm.1602
Acc/dec type
LS2(#6) BS2(#3)
1 0 Linear acc/dec after interpolation
0 1 Bell-shaped acc/dec after interpolation

[Valid data range]

Prm.8480 Varid data range
Type
RI2(#6) RI1(#5) RI0(#4) Unit [ms]
APC/AICC/AI-APC/AI-nano − − − 8∼512
0 0 0 1∼64
HPCC/AI-HPCC
0 0 1 2∼128

[Data size] : Word axis

When this item is set, following parameters are changed.

l Prm.13622(LV1 : highest priority to velocity)
l Prm.13623(LV10: highest priority to precision)
※These parameters are common to APC/AICC and HPCC/AI-HPCC.

By selecting the precision level, following parameter is set.

Prm.1769 : Time constant for acc/dec after cutting feed interpolation
(for each axis)
Caution
1. This item is common to APC/AICC/AI-APC/AI-nano and HPCC/ AI-
HPCC/AI-nano-HPCC. For example, when the parameter of LV10 for
HPCC/AI-HPCC/AI-nano-HPCC is changed, the parameter of LV10 for
APC/AICC/AI-APC/AI-nano is automatically changed to the same
value.
2. As target parameter(Prm.1769) is common to APC/AICC/AI-APC/AI-
nano and HPCC/AI-HPCC/AI-nano-HPCC, so if the precision level is
different from each other, the precision level which is set latter
becomes effective in both sides.
3. When all axes of this parameter is set to 0, parameter No.1768 (time
constant for acc/dec after cutting feed interpolation, common to all-
axes) becomes effective.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
A-78708EN

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 Corner feedrate difference
The allowable difference for the speed difference based on corner deceleration
function is set.
The system calculates the feedrate, whereby a change in the velocity element
of each axis, does not exceed this parameter value at the corner. Then the
machine decelerates using acc./dec. before interpolation.

[Valid data range]

Increment Valid data range
Type Unit
system IS-B IS-C
APC/AICC/AI-APC/ Millimeter machine 1mm/min 6∼15000 6∼12000
AI-nano Rotation axis 1deg/min 6∼15000 6∼12000
HPCC/AI-HPCC/ Millimeter machine 1mm/min 10∼60000 1∼6000
AI-nano-HPCC Rotation axis 1deg/min 10∼60000 1∼6000
[Data size] : Word axis (APC/AICC/AI-APC/AI-nano)
: Dword axis (HPCC/AI-HPCC/AI-nano-HPCC)

By selecting the precision level, following parameter is set.

[APC/AICC/AI-APC/AI-nano]
l Prm.13624(LV1 : highest priority to velocity)
l Prm.13625(LV10: highest priority to precision)
[HPCC/AI-HPCC/AI-nano HPCC]
l Prm.13672(LV1 : highest priority to velocity)
l Prm.13673(LV10: highest priority to precision)

When this item is set, following parameter is set.

[APC/AICC/AI-APC/AI-nano]
Prm.1783 : The allowable difference for the speed difference based on
corner deceleration function.

[HPCC/AI-HPCC/AI-nano HPCC]
Prm.8410 : : The allowable difference for the speed difference based on
corner deceleration function.

Caution
1. These items need to be set for each axis. The setting of another axis is
ignored.
2. Corner deceleration isn't executed when all axis of these items are set
to 0.
3. On APC, when all of this item is set to 0, Prm.1780 becomes effective.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
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 Maximum cutting feedrate
Maximum cutting feedrate for each axis is set.

[Valid data range]

Increment Valid data range
Unit
system IS-B IS-C
Millimeter machine 1mm/min 0∼240000 0∼100000
Rotation axis 1deg/min 0∼240000 0∼100000
[Data size] : Dword axis

When this item is set, following parameters are changed.

l Prm.13626(LV1 : highest priority to velocity)
l Prm.13627(LV10: highest priority to precision)
※These parameters are common to APC/AICC and HPCC/AI-HPCC.

By selecting the precision level, following parameter is set.

Prm.1432 : Maximum cutting feedrate on APC/AICC/HPCC/AI-HPCC
mode.

Caution
1. This item is common to APC/AICC/AI-APC/AI-nano and HPCC/ AI-
HPCC/AI-nano-HPCC. For example, when the parameter of LV10 for
HPCC/AI-HPCC/AI-nano-HPCC is changed, the parameter of LV10 for
APC/AICC/AI-APC/AI-nano is automatically changed to the same
value.
2. As target parameter(Prm.1432) is common to APC/AICC/AI-APC/AI-
nano and HPCC/AI-HPCC/AI-nano-HPCC, so if the precision level is
different from each other, the precision level which is set latter
becomes effective in both sides.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 Arbitrary item.
One or two arbitrary parameters can be set freely by customers. Each arbitrary
parameter can be equivalent to CNC or servo parameters. The parameter
number equivalent to arbitrary item is set by Prm.13629,13630
(APC/AICC/AI-APC/AI-nano),13674, and 13675 (HPCC/AI-HPCC/AI-
nano-HPCC).

The parameters equivalent to arbitrary items.

LV1(the highest priority to velocity) and LV10(the highest priority to
precision) and parameter numbers equivalent to each arbitrary item are set.

Equivalent LV1 value LV10 value

Prm. No.
Arbitrary item 1(APC/AICC) Prm.13629 Prm.1363 Prm.13632
1
Arbitrary item 2(APC/AICC) Prm.13630 Prm.1363 Prm.13633
2
Arbitrary item 1(HPCC/AI-HPCC) Prm.13674 Prm.1367 Prm.13678
6
Arbitrary item 2(HPCC/AI-HPCC Prm.13675 Prm.1367 Prm.13679
7

The title of arbitrary item.

The parameter number equivalent to each arbitrary item is displayed.

Caution
1. Following parameters cannot be set for arbitrary items.
– Bit parameter
– Spindle parameter(Prm.4000-4799)
– Parameter which require power off (generates P/S 000)
– Nonexistent parameter
2. When servo parameter is specified on a arbitrary item, it is impossible
to command HPCC/AI-HPCC/AI-nano-HPCC mode during AICC/AI-
APC/AI-nano mode. If such an action does, P/S alarm 5110 is
generated.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
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 1.3 Parameters

#7 #6 #5 #4 #3 #2 #1 #0
13600 MCR
[Data type] Bit
MCR On the machining condition selecting function (the machining parameter
setting screen and the precision level selection screen ), when "MAX
ACCELERATION" is adjusted, parameter 1730, 1731(arc radius-based
feedrate clamping parameters) are:
0: changed.
1: not changed.
Caution
l This parameter is available only for APC/AICC/AI-APC/AI-nano. On
HPCC/AI-HPCC/AI-nano HPCC, parameter 1730 and 1731 aren't
changed regardless of this parameter.

#7 #6 #5 #4 #3 #2 #1 #0
13601 MPR
[Data type] Bit
MPR The machining parameter setting screen is:
0: displayed.
1: not displayed.
Note
1. When this parameter is set, the power must be turned off before
operation is continued.
2. The precision level selection screen is displayed even if this parameter
is set to '1'.

13610 The acceleration for linear acceleration/deceleration before

interpolation(LV1,for APC/AICC/AI-APC/AI-nano)

13611 The acceleration for linear acceleration/deceleration before

interpolation(LV10,for APC/AICC/AI-APC/AI-nano)
[Data type] 2-word
[Unit and range]
Increment system Unit of data Valid data range
2
Millimeter machine 0.001mm/sec 50000∼99999999
On APC/AICC/AI-APC/AI-nano, LV1 value (the highest priority to velocity)
and LV10 value (the highest priority to precision) of the acceleration for linear
acceleration/deceleration before interpolation are set.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13660 The acceleration for linear acceleration/deceleration before
interpolation(LV1,for HPCC/AI-HPCC/AI-nano-HPCC)

13661 The acceleration for linear acceleration/deceleration before

interpolation(LV1,for HPCC/AI-HPCC/AI-nano-HPCC)
[Data type] 2-word axis
[Unit and range]
Increment system Unit of data Valid data range
2
Millimeter machine 0.001mm/sec 50000∼99999999

On HPCC/AI-HPCC/AI-nano HPCC, LV1 value (the highest priority to

velocity) and LV10 value (the highest priority to precision) of the acceleration
for linear acceleration/deceleration before interpolation are set.

Caution
1. On HPCC, this item is common to all axis. The parameter value of 1st
axis is effective on all axis. In other words, the parameter value of
non-1st axis is ignored.
2. On AI-HPCC/AI-nano HPCC, this parameter is needed to be set for
each axis.

The acceleration change time for bell-shaped acc/dec before interpolation

13612
(LV1,for AICC/AI-APC/AI-nano)

The acceleration change time for bell-shaped acc/dec before interpolation

13613
(LV10,for AICC/AI-APC/AI-nano)
[Data type] Byte
[Unit of data] ms
[Data range] 0∼100
On AICC/AI-APC/AI-nano, LV1 value (the highest priority to velocity) and
LV10 value (the highest priority to precision) of the acceleration change time
for bell-shaped acc/dec before interpolation are set.
Caution
l On T-Series, these parameters don't exist.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

Drawing No.
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 13662 The acceleration change time for bell-shaped acc/dec before interpolation
(LV1,for HPCC/AI-HPCC/AI-nano HPCC)

13663 The acceleration change time for bell-shaped acc/dec before interpolation
(LV10,for HPCC/AI-HPCC/AI-nano HPCC)
[Data type] 2-word
[Unit of data] ms
[Valid data range] 0∼200
On HPCC/AI-HPCC/AI-nano HPCC, LV1 value (the highest priority to
velocity) and LV10 value (the highest priority to precision) of the acceleration
change time for bell-shaped acc/dec before interpolation are set.

13614 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control (LV1, for AICC/AI-nano)

13615 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control (LV10, for AICC/AI-nano)
[Data type] 2-word axis
[Unit and range]
Unit of data
Increment system Valid data range
IS-B IS-C Units
2
Millimeter machine 0.001 0.0001 Mm/sec 0∼99999999
2
Rotation axis 0.001 0.0001 Deg/sec 0∼99999999
On AICC/AI-nano, LV1 value (the highest priority to velocity) and LV10
value (the highest priority to precision) of a permissible acceleration change
value per ms for each axis in feedrate control based on acceleration changes
under jerk control are set.

Caution
l On T-Series, these parameters don't exist.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13664 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control
(LV1,for AI-HPCC/AI-nano HPCC)

13665 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control
(LV10,for AI-HPCC/AI-nano HPCC)
[Data type] 2-word axis
[Unit and range]
Unit of data
Increment system Valid data range
IS-B IS-C Units
2
Millimeter machine 0.001 0.0001 mm/sec 0∼99999999
2
Rotation axis 0.001 0.0001 deg/sec 0∼99999999
On AI-HPCC/ AI-nano-HPCC, LV1 value (the highest priority to velocity)
and LV10 value (the highest priority to precision) of a permissible acceleration
change value per ms for each axis in feedrate control based on acceleration
changes under jerk control are set.

13616 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control in continuously linear
segments (LV1, for AICC/AI-nano)

13617 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control in continuously linear
segments (LV10, for AICC/AI-nano)
[Data type] 2-word axis
[Unit and range]
Unit of data
Increment system Valid data range
IS-B IS-C Units
2
Millimeter machine 0.001 0.0001 mm/sec 0∼99999999
2
Rotation axis 0.001 0.0001 deg/sec 0∼99999999
On AICC/AI-nano, LV1 value (the highest priority to velocity) and LV10
value (the highest priority to precision) of a permissible acceleration change
value per ms for each axis in feedrate control under jerk control, when liner
interpolation is commanded continuously, is set.
Caution
1. For axes for which this parameter is 0, a permissible acceleration
change values specified in parameters No. 13614/13615 are effective.
2. For axes for which parameters No. 13614/13615 are 0, feedrate control
based on acceleration changes is ineffective, so this parameter is
meaningless.
3. On T-Series, these parameters don't exist.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13666 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control in continuously linear
segments (LV1, for AI-HPCC/AI-nano HPCC)

13667 Permissible acceleration change value for each axis in feedrate control
based on acceleration changes for jerk control in continuously linear
segments (LV10, for AI-HPCC/AI-nano HPCC)
[Data type] 2-word axis
[Unit and range]
Unit of data
Increment system Valid data range
IS-B IS-C Units
2
Millimeter machine 0.001 0.0001 mm/sec 0∼99999999
2
Rotation axis 0.001 0.0001 deg/sec 0∼99999999
On AI-HPCC/AI-nano-HPCC, LV1 value (the highest priority to velocity) and
LV10 value (the highest priority to precision) of a permissible acceleration
change value per ms for each axis in feedrate control under jerk control, when
liner interpolation is commanded continuously, is set.
Caution
1. For axes for which this parameter is 0, a permissible acceleration
change value specified in parameters No. 13664/13665 are effective.
2. For axes for which parameters No. 13664/13665 are 0, speed control
based on acceleration changes is ineffective, so this parameter is
meaningless.

13618 Ratio of the jerk change time in smooth bell-shaped

acceleration/deceleration before interpolation (LV1, for AICC/AI-nano)

13619 Ratio of the jerk change time in smooth bell-shaped

acceleration/deceleration before interpolation (LV10, for AICC/AI-nano)
[Data type] Byte
[Unit of data] ％
[Valid data range] 0∼50
On AICC/AI-nano, LV1 value (the highest priority to velocity) and LV10
value (the highest priority to precision) of the percent jerk change time, with
respect to the acceleration change time (No.1772) in look-ahead smooth bell-
shaped acceleration/ deceleration, is set.

Caution
1. If this parameter is 0 or out of the valid data range, no look-ahead
smooth bell-shaped acceleration/deceleration before interpolation is
performed.
2. On T-Series, these parameters don't exist.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13668 Ratio of the jerk change time in smooth bell-shaped
acceleration/deceleration before interpolation (LV1, for AI-HPCC/AI-nano-
HPCC)

13669 Ratio of the jerk change time in smooth bell-shaped

acceleration/deceleration before interpolation (LV10, for AI-HPCC/AI-nano-
HPCC)
[Data type] Byte
[Unit of data] ％
[Valid data range] 0∼50
On AI-HPCC/AI-nano-HPCC, LV1 value (the highest priority to velocity) and
LV10 value (the highest priority to precision) of the percent jerk change time,
with respect to the acceleration change time (No.8416) in look-ahead smooth
bell-shaped acceleration/ deceleration, is set.

Caution
l If this parameter is 0 or out of the valid data range, no look-ahead
smooth bell-shaped acceleration/deceleration before interpolation is
performed.

13620 Max allowable acceleration (LV1,for APC/AICC/AI-APC/AI-nano)

13621 Max allowable acceleration (LV10,for APC/AICC/AI-APC/AI-nano)

[Data type] 2-word axis
[Unit and range]
Increment system Unit of data Valid data range
2
Millimeter machine 0.001mm/sec 0∼99999999
On APC/AICC/AI-APC/AI-nano, LV1 value (the highest priority to velocity)
and LV10 value (the highest priority to precision) of max allowable
acceleration are set.

13670 Max allowable acceleration (LV1,for HPCC/AI-HPCC/AI-nano-HPCC)

13671 Max allowable acceleration (LV10,for HPCC/AI-HPCC/AI-nano-HPCC)

[Data type] 2-word axis
[Unit and range]
Increment system Unit of data Valid data range
2
Millimeter machine 0.001mm/sec 0∼99999999
On HPCC/AI-HPCC/AI-nano-HPCC, LV1 value (the highest priority to
velocity) and LV10 value (the highest priority to precision) of max allowable
acceleration are set.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13622 Time constant for acc/dec after cutting feed interpolation
(LV1, for APC/AICC/AI-APC/AI-nano/HPCC/AI-HPCC/AI-nano HPCC)

13623 Time constant for acc/dec after cutting feed interpolation

(LV10, for APC/AICC/AI-APC/AI-nano/HPCC/AI-HPCC/AI-nano HPCC)
[Data type] Word axis
[Unit of data] msec
[Valid data range] 1∼512
LV1 value (the highest priority to velocity) and LV10 value (the highest
priority to precision) of time constant for acc/dec after cutting feed
interpolation are set. (Unit: ms)
Acceleratio/deceleration type depends on Prm.1602#3(BS2),#6(LS2).
Parameter
Acceleration / deceleration
No.1602
LS2(#6) BS2(#3)
1 0 Linear acceleration/deceleration after interpolation
0 1 Bell-shaped acceleration/deceleration after
interpolation

Note
1. To use linear acceleration/deceleration after interpolation, the optional
function, linear acc/dec after interpolation for cutting feed, is required.
2. To use bell-shaped acceleration/deceleration after interpolation, the
optional function, bell-shaped acc/dec after interpolation for cutting
feed, is required.
3. The parameter is common to APC/AICC/AI-APC/AI-nano and
HPCC/AI-HPCC/ AI-nano HPCC.

13624 Allowable difference for the speed difference based corner deceleration
function (LV1, for APC/AICC/AI-APC/AI-nano)

13625 Allowable difference for the speed difference based corner deceleration
function (LV10, for APC/AICC/AI-APC/AI-nano)
[Data type] Word axis
[Unit and range]
Valid data range
Increment system Unit of data
IS-B IS-C
Millimeter machine 1mm/min 6∼15000 6∼12000
Rotation axis 1deg/min 6∼15000 6∼12000
On APC/AICC/AI-APC/AI-nano, LV1 value (the highest priority to velocity)
and LV10 value (the highest priority to precision) of the allowable difference
for the speed difference based corner deceleration function are set.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13672 Allowable difference for the speed difference based corner deceleration
function (LV1, for HPCC/AI-HPCC/AI-nano HPCC)

13673 Allowable difference for the speed difference based corner deceleration
function (LV10, for HPCC/AI-HPCC/AI-nano HPCC)
[Data type] 2-word axis
[Unit and range]
Valid data range
Increment system Unit of data
IS-B IS-C
Millimeter machine 1mm/min 10∼60000 1∼6000
Rotation axis 1deg/min 10∼60000 1∼6000
On HPCC/AI-HPCC/AI-nano-HPCC, LV1 value (the highest priority to
velocity) and LV10 value (the highest priority to precision) of the allowable
difference for the speed difference based corner deceleration function are set.

13626 Maximum cutting feedrate

(LV1, for APC/AICC/AI-APC/AI-nano/HPCC/AI-HPCC/AI-nano HPCC)

13627 Maximum cutting feedrate

(LV1, for APC/AICC/AI-APC/AI-nano/HPCC/AI-HPCC/AI-nano HPCC)
[Data type] 2-word axis
[Unit and range]
Increment system Unit of data Valid data range
IS-B IS-C
Millimeter machine 1mm/min 6∼240000 6∼100000
Rotation axis 1deg/min 6∼240000 6∼100000
LV1 value (the highest priority to velocity) and LV10 value (the highest
priority to precision) of maximum cutting feedrate are set.

Note
・ The parameter is common to APC/AICC/AI-APC/AI-nano and HPCC/AI-
HPCC/AI-nano HPCC.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13628 Parameter No. equivalent to arbitrary item 1 (for APC/AICC/AI-APC/AI-nano)

13629 Parameter No. equivalent to arbitrary item 2 (for APC/AICC/AI-APC/AI-nano)

13674 Prm. No. equivalent to arbitrary item 1 (for HPCC/AI-HPCC/AI-nano HPCC)

13675 Prm. No. equivalent to arbitrary item 2 (for HPCC/AI-HPCC/AI-nano HPCC)

[Data type] Word
[Valid data range] 1∼65535
The parameter number equivalent to each arbitrary item is set.

Caution
1. Following parameters can’t be set for arbitrary items.
– Bit parameter
– Spindle parameter(Prm.4000-4799)
– Parameter which require power turning off (generates P/S 000)
– Nonexistent parameter
2. When these parameters are set, the power must be turned off before
operation is continued.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 13630 LV1(the highest priority to velocity) value of arbitrary item 1
(for APC/AICC/AI-APC/AI-nano)

13631 LV1 value of arbitrary item 2 (for APC/AICC/AI-APC/AI-nano)

13632 LV10(the highest priority to velocity) value of arbitrary item 1

(for APC/AICC/AI-APC/AI-nano)

13633 LV10 value of arbitrary item 2 (for APC/AICC/AI-APC/AI-nano)

13676 LV1 value of arbitrary item 1 (for HPCC/AI-HPCC/AI-nano HPCC)

13677 LV1 value of arbitrary item 2 (for HPCC/AI-HPCC/AI-nano HPCC)

13678 LV10 value of arbitrary item 1 (for HPCC/AI-HPCC/AI-nano HPCC)

13679 LV10 value of arbitrary item 2 (for HPCC/AI-HPCC/AI-nano HPCC)

[Data type] 2-word axis
[Unit of data] It depends on the target of parameter.
[Valid data range] It depends on the target of parameter.

Values for LV1 (the highest priority to velocity) and LV10 (the highest priority
to precision) are set. Each function (HPCC/AI-HPCC/AI-nano HPCC and
APC/AICC/AI-APC/AI-nano ) can have two arbitrary items.

13634 Current precision level on APC/AICC/AI-APC/AI-nano

13680 Current precision level on HPCC/AI-HPCC/AI-nano HPCC

[Data type] Byte
[Valid data range] 1∼10
Current precision level is set.
Caution
l On "Time constant for acc/dec after cutting feed interpolation" and
"Maximum cutting feedrate", as target parameter(Prm.1769,1432) is
common to APC/AICC and HPCC/ AI-HPCC, so when one of
precision level parameters is changed, target parameter becomes
effective on both APC/AICC and HPCC/AI-HPCC.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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 1.4 Alarms and messages

Number Message Description

5110 IMPROPER G-CODE (G05.1 When servo parameter is specified on
Q1 MODE) a arbitrary item, it is impossible to
command HPCC/AI-HPCC/AI-nano-
HPCC mode during AICC/AI-APC/AI-
nano mode.

Title FANUC Series 16i/18i –TB

FANUC Series 16i/18i/21i –MB
Machining condition selecting function

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