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

4.INTERPOLATION FUNCIONS PROGRAMMING B-63324EN/03
- 84 -
- Rotation angle ˘
In exponential interpolation, the X coordinate and angular
displacement θ of the A axis to X are expressed by equation (1).
1)
R
tan(I) x
ln(K +
×
×=
- - - - - - - - - - @(1)
where, I is the gradient.
In equation (1), the portion of the natural logarithm l n in parentheses
must satisfy equation (2). Because it is impossible to find the logarithm
of a negative number, which means that the value in the parentheses
must be positive.
1
R
tan(I) x
>
×
- - - - - - - - - - - - - - - - - - @(2)
As illustrated below, if the value of xtan(I)/R becomes smaller than -1,
the position moves beyond point (A), which is not realistic. In this case,
alarm PS897 occurs.
Fig.4.11 (b) Rotation angle ˘
The values of X, Y, Z, and U in the equations for exponential
interpolation (refer to the operators manual) are treated using
coordinates in the workpiece coordinate system. Therefore, even when
a positive value is specified in an incremental command, it is regarded
as negative in the equations if it is positioned at a negative coordinate in
the workpiece coordinate system.
×
×
×

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