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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
- 485 -
- Examples of machine configuration and rotation axis calculation formats
Let Vx, Vy, Vz, Lc, a, b, and c be as follows :
Vx,Vy,Vz : Tool compensation vectors along the X-axis, Y-
axis, and Z-axis
Lc : Offset value
a,b,c : Absolute coordinates on the A-axis, B-axis and
C-axis
Then, the tool compensation vector on each axis in each machine
configuration is indicated below.
(1) A-axis and C-axis, with the tool axis on the Z-axis
C
A
Z
X
Y
Workpiece
C
A
Vx = Lc * sin(a) * sin(c)
Vy = -Lc * sin(a) * cos(c)
Vz = Lc * cos(a)

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