Fanuc Series 15i/150i-MA (Programming) Operators Manual

B-63324EN/03 PROGRAMMING 4.INTERPOLATION FUNCIONS
- 83 -
Explanation
- Exponential relational expressions
Exponential relational expressions for a linear axis and rotary axis are
defined as follows:
)tan(
1
)1()(
l
k
eRX ××=
θ
θ
Movement on the linear axis (1)
π
θ
ω
θ
2
360)1()( ××=A
Movement on the linear axis (2)
where
)tan(
)tan(
l
J
K =
1/0=
ω
Rotation direction
R, I, and J are constants, and θ represents an angle (radian)
The following is obtained from Expression (1)
)1
)tan(
ln()( +
×
×=
R
IX
KX
θ
When there is movement from X
1
to X
2
on the linear axis, the amount
of movement on the rotary axis is determined by :
+
×
+
×
×= )1
)tan(
1
ln()1
)tan(
2
ln(
R
IX
R
IX
K
θ
Specify Expressions (1) and (2) in the format described earlier.

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