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

B-63324EN/03 PROGRAMMING 4.INTERPOLATION FUNCTIONS
- 109 -
Explanation
- Function of spiral interpolation
Spiral interpolation in the XY plane is defined as follows:
(X-X
0
)
2
+(Y-Y
0
)
2
=(R+Q’)
2
X
0
: X coordinate of the center
Y
0
: Y coordinate of the center
R : Radius at the beginning of spiral interpolation
Q’ : Variation in radius
When the programmed command is assigned to this function, the
following expression is obtained:
(X-X
S
-I)
2
+(Y-Y
S
-J)
2
= (( R + (L’+
360
θ
)Q)
2
where
X
S
: X coordinate of the start point
Y
S
: Y coordinate of the start point
I : X coordinate of the vector from the start point to the center
J : Y coordinate of the vector from the start point to the center
R : Radius at the beginning of spiral interpolation
Q : Radius increment or decrement per spiral revolution
L' : (Current number of revolutions)-1
θ : Angle between the start point and the current
position(degrees)
- Controlled axes
For conical interpolation, two axes of a plane and two additional axes,
that is, four axes in total, can be specified. A rotation axis can be
specified as the additional axis.
- Difference in end position
If the difference between the positions of specified and calculated end
points of a helix along an axis in the specified plane exceeds the value
set in parameter 2511, alarm PS281 is issued.
If the difference in height between the positions of specified and
calculated end points of a helix exceeds the value set in parameter 2511,
alarm PS281 is issued.

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