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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
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V
Mn
: Movement vector of block n
V
Tn
: Tool vector at the end of block n
V
Cn
: Compensation vector of block n (that lies in the VTn- VMn+1 plane, and is
perpendicular to VTn)
Tool center path (after compensation)
Programmed tool path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
Fig.14.14.2 (d) Operation in the compensation mode
If a G code or M code that suppresses buffering is specified in the
compensation mode, however, the compensation vector created
immediately before the specification is maintained.
When a block involving no movement (including a block containing a
move command for a rotation axis only) is specified, the movement
vector of the block after the block involving no movement is used to
create a compensation vector as shown below.
Tool center path(after compensation)
Programmed path
V
M1
V
M2
V
T1
V
C1
V
C2
= V
C3
V
T2
V
M4
There is one block that
specifies no movement.
Fig.14.14.2 (e) There is one block that specifies no movement.
If block 3 involves no movement, the compensation vector of block 2
(V
C2
) is created so that it is perpendicular to V
T2
and lies in the plane
formed by the movement vector (V
M4
) of block 4 and the tool vector
(V
T2
) at the end point of block 2.
NOTE
If two or more successive blocks involve no
movement, the previously created compensation
vector is maintained. However, such specification
should be avoided.
- Block immediately before the offset cancel command (G40)
In the block immediately before the compensation cancel command
(G40), a compensation vector is created from the movement vector of
that block and the tool vector at the end point of the block as shown
below :
Tool center path (after compensation)
Programmed path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
G40
Fig.14.14.2 (f) Block Immediately before G40
The compensation vector (V
C2
) of block 2 is created so that it is
perpendicular to V
T2
and lies in the plane formed by the tool vector

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