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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
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Ua: Vector AB
Ub: Vector BC
Va: Tool direction vector between A and B
Vb: Tool direction vector between B and C
Wa: Va × Ua
Wb: Vb × Ub
(Here, × represents an outer product operator.)
Y
Z
Va
Vb
A
B
C
X
WaWb
Ua
Ub
Fig.14.14.1 (q) Conceptual Diagram
A’ : Point A projected onto the compensation plane
B’ : Point B projected onto the compensation plane
C’ : Point C projected onto the compensation plane
Ra: Vector A'B'
Rb: Vector B'C'
e3
e2
A’C’B’
Ra
Rb
Fig.14.14.1 (r) Programmed Path (on the Compensation Plane) before
and after the End Point (Point B) of N4
When all the following conditions are satisfied, an alarm
(PS0272) Issued.
(1) The tool direction vector changes remarkably.
α : Angle for determination set in parameter No. 6261 (The
default is 45°.)
(Va,Vb) cos(α)(Here, (Va,Vb) means an inner product.)
(2) The difference between the directions of the compensation
vectors to be generated is small.
Wa : Direction of a compensation vector to be
generated by the AB block.

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