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

B-63324EN/03 PROGRAMMING 4.INTERPOLATION FUNCTIONS
- 131 -
K2. knots are specified.)
K2.
K2.
K2.
- PS1009 WRONG FIRST CONTROL POINT
The first control point of NURBS interpolation must be the start point
of a NURBS curve, which is the current position when the previous
block ends.
O0013
G90 G01 X100. Y100. Z100. F1000
G06.2 P4 X100. Y100. Z100. K0. (No alarm is issued.)
X110. Y110. Z110. K0.
O0014
G90 G01 X100. Y100. Z100. F1000
G91 G06.2 P4 X0. Y0. Z0.
K0. (An incremental command
G90 X110. Y110. Z110. K0. with zero travel does not
cause an alarm.)
O0015
G90 G01 X100. Y100. Z100. F1000
G06.2 P4 X100. Y100. Z120. K0. (Alarm PS1009 is
issued.)
X110. Y110. Z110. K0.
Example
Sample NURBS interpolation program
G90;
G06.2 K0. X0. Z0. B-30.;
K0. X300. Z100. B-10.;
K0. X700. Z100. B10.;
K0. X1300. Z-100. B10.;
K0.5 X1700. Z-100. B-10.;
K0.5 X2000. Z0. B-30.;
K1.0;
K1.0;
K1.0;
K1.0;
G01 Y0.5;
G06.2 K0. X2000. Z0. B-30.;
K0. X1700. Z-100. B-10.;
K0. X1300. Z-100. B10.;
K0. X700. Z100. B10.;
K0.5 X300. Z100. B-10.;
K0.5 X0. Z0. B-30.;
K1.0;
K1.0;
K1.0;

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