Fanuc Series 15i/150i-MA (Programming) Operators Manual B-63324EN/03 PROGRAMMING 4.INTERPOLATION FUNCTIONS
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Fig. 4.17.1(a)
An example of NURBS interpolation using the five axes X, Y, Z, A,
and B is explained below.
Here, the feedrate F is represented by vector F(t) (where t changes from
0 to 1 in one segment). Let F
x
(t), F
y
(t), F
z
(t), F
a
(t), and F
b
(t) be the
components of the individual axes. Then, the following expression is
given:
))(),(),(),(),(()( tFtFtFtFtFtF
bazyx
= (t = 0 to 1 in one segment)
Then,
)(tFF =
At this time, F is clamped so that the following states are satisfied at all
times in the segment:
)()(
)()(
)()(
)()(
)()(
max
max
max
max
max
BFtF
AFtF
ZFtF
YFtF
XFtF
b
a
z
y
x
In other words, the conditions below must be satisfied when the
clamped feedrate F is multiplied by the proportion of each axis
component (such as
)(
)(
tF
tF
x
):
)()
)(
)(
Max(
)()
)(
)(
Max(
)()
)(
)(
Max(
)()
)(
)(
Max(
)()
)(
)(
Max(
max
max
max
max
max
BFF
tF
tF
AFF
tF
tF
ZFF
tF
tF
YFF
tF
tF
XFF
tF
tF
b
a
z
y
x
(t=0 to 1) 