27
88
A-78710E
Edit
Apprv. Desig.
Sheet
Title
Draw
No.
Date
Design
Descri
tion
Date
FANUC Series 16i –MB, 18i –MB5
Tool Radius Compensation For 5-Axis
machining Specifications
Dec.01.2001
02 Mar.22.2002
T.Mochia All revision
H.Kouzai
Sheet
T.Mochida H.Kouzai
03 Mar.28.2003
MTanaka All revision H.kouzai
04 Aug.05.2003
T.Horie Intersection offset, G-code unification add. H.kouzai
05 Jun.02.2004 Intersection offset(tool rotation type, Mixed type)
(2) Compensation vector when θ is regarded as 0° or 180°
At startup (when G41.3 is specified), alarm P/S 5408 is issued.
This means that the tool vector of a block and the movement vector of the next
block must not point in the same direction or in opposite directions at startup.
At other than startup, the previously created compensation vector is maintained
without change.
If the included angles between VT2 and VM3, VT3 and VM4, and VT4 and VM5
are regarded as 0°, compensation vector VC1 of block 1 is maintained as
compensation vectors VC2, VC3, and VC4 of blocks 2, 3, and 4, respectively.
Tool center path
path after compensation
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig.2.34 When θ = 0° is determined
If the included angles between VT2 and VM3, VT3 and VM4, and VT4 and VM5
are regarded as 180°, compensation vector VC1 of block 1 is maintained as
compensation vectors VC2, VC3, and VC4 of blocks 2, 3, and 4, respectively.
Tool center path
path after compensation
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig. 2.35 When θ = 180° is determined
(3) Compensation vector when θ is regarded as 90°
If the previous compensation vector (VCn-1) points in the opposite direction
((VMn × VTn-1) × VTn-1 direction) to VMn with respect to VTn-1, the current
compensation vector (VCn) is created so that it also points in the (VMn+1 × VTn)
× VTn direction.
Tool center path
path after compensation
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig.2.36 When θ = 90° is determined 1
If the previous compensation vector (VCn-1) points in the same direction (-(VMn
× VTn-1) × VTn-1 direction) as VMn with respect to VTn-1, the current
compensation vector (VCn) is created so that it also points in the -(VMn+1 ×
VTn) × VTn direction.
Tool center path
path after compensation
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig.2.37 When θ = 90° is determined 2