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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
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- Criterion 1 for detecting interference (direction check)
Let N be the number of blocks that are read during tool compensation.
The check method first checks the compensation vector group
calculated between blocks 1 and 2 that are to be output at this time with
the compensation vector group calculated between blocks N-1 and N in
order to determine whether any vector intersects another. If a vector
intersection is detected, it is determined that interference will occur. If
no vector intersection is detected, checks are sequentially made on the
following pairs of vector groups in such a way that the compensation
vector group output this time will be approached:
Blocks 1 and 2 versus blocks N-2 and N-1
Blocks 1 and 2 versus blocks N-3 and N-2
:
:
Blocks 1 and 2 versus blocks 2 and 3
If more than one compensation vector group arises, checks are made on
all the pairs.
Decisions are made as follows: In checking the compensation vector
group for blocks 1 and 2 with the compensation vector group for blocks
N-1 and N, the direction vector from the end point of block 1 to the end
point of block N-1 is compared with the direction vector from the point
produced by applying the compensation vector to be checked to the end
point of block 1 to the point produced by applying the compensation
vector to be checked to the end point of block N-1. If the resulting
direction is between 90 degree and 270 degree, there is a vector
intersection, which indicates that interference will occur. This method
is referred to as the direction check method.

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