14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
- 530 -
zyx ,, : Tool center position
cb, : Rotation axis position
ZYX ,, : tip position
KJI ,, : Tool axis direction
l : Tool offset value
All positions are represented by absolute
Fig.14.15 (b) Expression for Compensation Calculation
(2) When circular interpolation or helical interpolation (G02, G03) is
I, J, and K have no effect on specified-direction tool length
compensation. A compensation vector generated in the previous
block is used as is.
Tool center path
of the previous block
The same vector
Fig.14.15 (c) Compensation Vector in Circular Interpolation
1 In a block in which all of I, J, and K are omitted, the
compensation vector for the previous block is used.
2 If any one of I, J, or K is omitted, 0 is assumed in
place of the omitted value.
3 Shortcut control is exercised on the amount of
movement on a rotation axis so that 180 is not