Fanuc Series 15i/150i-MA (Programming) Operators Manual B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
- 519 -
()
()()
()()
()()
=
××=
=
=
=
=
+
+
TZMXTXMZTXTYMZTZMYTY
TYMZTZMYTZTXMYTYMXTX
TXMYTYMXTYTZMXTXMZTZ
TTM
Z
Y
X
MZ
MY
MX
M
TZ
TY
TX
T
VVVVVVVVVV
VVVVVVVVVV
VVVVVVVVVV
VVV
V
V
V
V
V
V
V
V
V
V
V
V
value
OffsetR
nnn
n
n
1
1
Then,
(1) When(V
Mn+1
, V
Tn
) > 0 (0deg. < θ < 90deg.)
++
=
Z
Y
X
ZYX
n
C
V
V
V
VVV
R
V
222
(2) When(V
Mn+1
, V
Tn
) < 0 (90deg. < θ < 180deg.)
++
=
Z
Y
X
ZYX
n
C
V
V
V
VVV
R
V
222
- Compensation performed when θ is approximately 0deg., 90deg., or 180deg.
When the included angle θ between V
Mn+1
and V
Tn
is regarded as 0deg.,
180deg., or 90deg., the compensation vector is created in a different
way. So, when creating an NC program, note the following points :
(1) Setting a variation range for regarding θ as 0deg., 180deg., or
90deg.
When the included angle (θ) between the tool vector (V
T
) and the
movement vector (V
M
) becomes approximately 0deg., 180deg., or
90deg., the system regards θ as 0deg., 180deg., or 90deg., then
creates a compensation vector which is different from the normal
compensation vector. The variation range used for regarding θ as
0deg., 180deg., and 90deg. is or in parameter 6115.
For example, suppose that the angle set in parameter 6115 is ∆θ. 