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

14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
- 518 -
(V
T2
) at the end point of block 2 and the movement vector (V
M2
) of
block 2.
- Method of compensation vector calculation
In leading edge compensation, the compensation vector is calculated as
follows :
(1) Tool vector
(2) Movement vector
The movement vector (V
Mn+1
) of block n+1 is obtained from the
following expression :
+
+
+
=
+
n
Z
n
Z
n
Y
n
Y
n
X
n
X
n
M
V
1
1
1
1
(3) Compensation vector
The direction of the compensation vector (VCn) of block n is
defined as follows :
(1) (V
Mn+1,
V
Tn
) > 0 (0deg < θ < 90deg.)
V
Cn
V
Tn
V
Mn+1
V
Cn
θ
θ
V
Tn
V
Mn+1
Direction of V
Cn
(V
Mn+1
× V
Tn
) × V
Tn
θ represents the included angle
between V
Mn+1
and V
Tn
.
(0° θ 180°)
Fig.14.14.2 (g) Direction of the compensation vector (1)
(2) (V
Mn+1
,V
Tn
) < 0 (90deg < θ < 180deg.)
V
Tn
V
Cn
V
Mn+1
V
Tn
θ
θ
V
Cn
V
Mn+1
Direction of V
Cn
-(V
Mn+1
× V
Tn
)× V
Tn
Fig.14.14.2 (h) Direction of the compensation vector (2)
The compensation vector (V
Cn
) of block n is calculated from V
Tn
and V
Mn+1
as described below.
X
n
: Absolute coordinate value of X axis
at end point of block n
Y
n
: Absolute coordinate value of Y axis
at end point of block n
Z
n
: Absolute coordinate value of Z axis
at end point of block n
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