PROGRAMMING
B–63534EN/02
22. RISC PROCESSOR
679
The move direction of A’B’ is opposite to that of B’C’, so that two
compensation vectors, V1 and V2, are produced at point B’ (end point of
N4). There is a possibility of overcutting in this case, so an alarm
(PS0272) is issued from N4.
(1) Conditions for issuing the interference alarm
Suppose that the tool direction vector changes considerably from one
block to another due to a move command for a rotation axis. In this
case, an interference alarm is assumed because compensation vectors
are regarded as being generated in the wrong directions when the path
angle difference on the compensation plane is large, even though the
angle difference of the directions of compensation vectors to be
generated by those blocks is small.
Here, the compensation plane is perpendicular to the tool direction
(Va in Fig. 14.14.1(q)) of the first of the two blocks.
Specifically, the conditions below are used for issuing the alarm.
Ua : Vector AB
Ub : Vector BC
Va : Tool direction vector between A and B
Vb : Tool direction vector between B and C
Wa : Va Ua
Wb: Vb Ub
(Here, represents an outer product operator.)
Y
Z
Va
A
B
C
X
WaWb
Ub
Vb
Ua
Fig. 22.5.1 (q) Conceptual Diagram