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

14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
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(1) If 0 θ ∆θ, θ is regarded as 0deg.
θ
∆θ
V
Tn
V
Mn+1
Fig.14.14.2 (i) Determination of θ=0deg.
(2) If (180-∆θ) θ 180, θ is regarded as 180deg.
θ
∆θ
V
Tn
V
Mn+1
Fig.14.14.2 (j) Determination of θ=180deg.
(3) If (90-∆θ) θ (90+∆θ), θ is regarded as 90deg.
θ
∆θ
V
Tn
V
Mn+1
θ
∆θ
V
Tn
V
Mn+1
Fig.14.14.2 (k) Determination of θ=90deg.
(2) Compensation vector when θ is regarded as 0deg.or 180deg.
If θ is regarded as 0deg.or 180deg.when G41.3 is specified to start
leading edge compensation, alarm PS998 is issued. This means
that the tool vector of the current block and the movement vector
of the next block must not point in the same direction or in
opposite directions at start-up.
The previously created compensation vector is maintained other
than at start-up at all times.
If the included angles between V
T2
and V
M3
, V
T3
andV
M4
, and V
T4
and V
M4
, and V
T4
and V
M5
are regarded as 05, the compensation
vector V
C1
of block 1 is maintained as the compensation vectors
V
C2
, V
C3
, and V
C4
, of blocks 2, 3, and 4, respectively.

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