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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
- 505 -
Z
X
Y
Tool
Tool axis
Start point
End point
Actual tool center path
Tool center path created in the
compensation plane
(Compensation plane = XY plane)
Offset vector created in
the compensation plane
Actual offset vector
Move command
Projected
Fig.14.14.1 (i) Operation in the compensation mode (4)
- Compensation vector calculation
Y
Z
X
P
R
e2
e1=V
T
V
D
Q
e3
Fig.14.14.1 (j) Compensation vector calculation
In above figure, cutter compensation vector VD at point Q is calculated
as follows :
(1) Calculating the tool vector (VT)
(2) Calculating the coordinate conversion matrix (M)
Coordinate systems are defined as follows :
- Coordinate system C1 : {O; X, Y, Z}
Cartesian coordinate system whose fundamental vectors are
the following unit vectors along the X-, Y-, and Z-axes :
(1, 0, 0)
(0, 1, 0)

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