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

14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
- 506 -
(0, 0, 1)
- Coordinate system C2 : {O; e2, e3, e1}
Cartesian coordinate system whose fundamental vectors are
the following unit vectors :
e2
e3
e1
where, e2, e3, and e1 are defined as follows :
e1 = V
T
e2 = b2 / |b2| , b2 = a2 - (a2,e1)- e1
e3 = b3 / |b3| , b3 = a3 - (a3,e1)- e1 - (a3,e2)- e2
a2 is an arbitrary vector linearly independent of e1, and
a3 is an arbitrary vector linearly independent of e2 and
e1.
The coordinate conversion matrix M from coordinate system C1
to C2, and the coordinate conversion matrix M
-1
from coordinate
system C2 to C1 are expressed as :
=
1
3
2
e
e
e
M ,
()
132
1
eeeM
ttt
=
(3) Converting coordinates from coordinate system C1 to coordinate
system C2
The coordinates of the start and end points P and Q of a block and
coordinates of the end point R of the next block in coordinate
system C1 are converted to coordinates P’, Q’, and R’ in coordinate
system C2, respectively, by using the following expressions :
MRR
MQQ
MPP
=
=
=
(4) Calculating the intersection vector (VD’) in the compensation
plane
{O; e2, e3}
In the coordinates in coordinate system C2 obtained in (3), two
components (the e1 component, the component of the tool
direction, is excluded) are used to calculate intersection vector
VD’ in the compensation plane.

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