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

14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
- 524 -
Program-specified
point (pivot point)
Workpiece
Tool center
Tool si de
Distance from program-specified
point (pivot point) to cutting point
(set for parameter)
Vector from program-specified point (pivot
point) to tool tip position (cutting point)
Tool tip position
(cutting point)
3D cutter compensation vector
according to this specification
Tool
Conventional 3D cutter
compensation vector
3D cutter compensation
vector according to this
specification
Fig.14.14.3 (a) Basic operation (for G42.2)
- Operation example
For a machine configuration in which the tool direction is along the
Z-axis and the rotation axes are the B&C axes (Fig.14.14.3 (b))
Assume that
LC: Parameter (No. 6130) for the distance from the program-specified
point (pivot point) to the tool tip position (cutting point)
b: B-axis specified value, c: C-axis specified value
Q=(Qx,Qy,Qz): Program-specified point (pivot point)
P, R: Program-specified points (pivot points) in the preceding and
succeeding blocks
QT=(QTx,QTy,QTz): Tool position (tool tip position (cutting point))
resulting from conversion
PT,RT: Tool positions (tool tip positions (cutting points) in the
preceding and succeeding blocks that result from conversion, then
(1) Convert the program-specified points (pivot points) P, Q, and R to
the tool tip positions (cutting points) PT, QT, and RT.
QTx LC × sin(b) × cos(c) + Qx
QTy LC × sin(b) × sin(c) + Qy
QTz LC × cos(b) + Qz
(The same applies to PT and RT.)
(2) Calculate the cutter compensation vector VD with the tool tip
positions (cutting points) PT, QT, and RT and the tool gradient
VT.
(3) Add the cutter compensation vector VD to the program-specified
point (pivot point) and set the result as the end point position.