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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
- 521 -
Tool center path
(after compensation)
Programmed
Path
V
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
V
C5
V
T5
Fig.14.14.2 (l) When θ=0deg.Is Determined
If the included angles between V
T2
and V
M3
, V
T3
andV
M4
, and V
T4
and V
M5
are regarded as 180deg., 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.
Tool center path
(after compensation)
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig.14.14.2 (m) When θ=180deg. Is Determined
(3) Compensation vector when θ is regarded as 90deg.
If the previous compensation vector (V
Cn-1
) points in the opposite
direction ((V
Mn
× V
Tn-1
) ×V
Tn-1
direction) to V
Mn
with respect to
VTn-1, the current compensation vector (V
Cn
) is created so it
points in the (V
Mn+1
× V
Tn
) ×V
Tn
direction.
Tool center path
(after compensation)
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig.14.14.2 (n) When θ=90deg. Is Determined (1)
If the previous compensation vector (V
Cn-1
) points in the same
direction ( -(V
Mn
× V
Tn-1
) × V
Tn-1
direction) as V
Mn
with respect to
V
Tn-1
, the current compensation vector (V
Cn
) is created so it points
in the -(V
Mn+1
× V
Tn
) ×V
Tn
direction.
Tool center path
(after compensation)
Programmed
path
V
M1
V
M2
V
T1
V
C1
V
C2
V
T2
V
M3
V
T3
V
M4
V
C3
V
C4
V
M5
V
M6
V
T4
V
C5
V
T5
Fig.14.14.2 (o) When θ=90deg. Is Determined (2)

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