The process of judging whether the moving angle is smaller or larger as the output
judgement condition is called "movement judgement."
When parameter PRI (No.19608#5) is 1, the movement judgements for the first
rotation axis and second rotation axis are made in reverse order.
The "movement judgement" process is explained below.
When the "computed angle" is within the range between 0 and 360 degrees, it is
called the "basic computed angle."
Usually, two pairs of "basic computed angles" exist.
For example, assume that a tool rotation type or table rotation type machine has
rotation axis A (master) and rotation axis B (slave) and that there are two pairs of
basic computed angles as follows:
(A θ1 degree; B φ1 degree)
(A θ2 degrees; B φ2 degrees) where θ1 ≤ θ2.
The "computed angle" is obtained from either of the following expressions:
"basic computed angle" + 360 degrees × N or "basic computed angle"
- 360 degrees × N.
The current position of rotation axis A (master) is PA, and that of rotation axis B
(slave) is 0 degree.
Based on the PA angle, the "movement judgement" process is done as follows (when
parameter PRI (No.19608#5) is 0).
-360
(N + 1) degrees
θ
1 - 360
×
N
-360
N degrees
θ
2 - 360
×
N
θ
2 - 360
×
(N + 1)
θ
1 - 360
×
(N - 1)
(*1)
0 degree
360 degrees
1
2
2 - 360
θ1 + 360
(*2)
360 × (N + 1) degrees
1 + 360
N
360
N degrees
2 + 360
N
2 + 360
(N - 1)
θ1 + 360 × (N + 1)
(*3)
•
Computed angle A
"Movement judgment"
B-63534EN/02-05
Edit
Apprv. Desig.
Sheet
Title
Draw
No.
Date
Design
Description
Date
FANUC Series 16i/160i/160is-MB,18i/180i/180is-MB5,
18i/180i/180is-MB OPERATOR’S MANUAL
Concerning the addition of TOOL CENTER POINT
CONTROL FOR 5-AXIS MACHINING
Oct.27.2003
T. Horie
33/33