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

14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
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- Specification of parameters
The parameters used with this function are described below. Parameter
numbers are enclosed in brackets [ ].
Relationships between rotation axes and rotation planes [6080 to 6089]
These parameters set the relationships between rotation axes and
rotation planes. In general, the direction vector of a rotation axis has
components in three directions. This function, however, can perform
calculation on a rotation axis having a vector of components in any two
directions.
(1) For a component in a single direction ... type 1
(The rotation axis rotates about any of the three basic axes.)
Example:
Axis number of the rotation axis = 5 (C-axis)
Axis number of linear axis 1 = 1 (X-axis)
Axis number of linear axis 2 = 2 (Y-axis)
1) The rotation axis:
- Rotates about the axis orthogonal to the plane formed
by linear axes 1 and 2.
- Assumes that the rotation from the forward direction of
linear axis 1 to the forward direction of linear axis 2 is
the forward rotation of the rotation axis.
(2) For components in two directions ... type 2
(The rotation axis rotates about an axis on the plane formed by any
two of the three basic axes.)
Example:
Axis number of the rotation axis = 4 (B-axis)
Axis number of linear axis 1 = 1 (X-axis)
Axis number of linear axis 2 = 2 (Y-axis)
Axis number of linear axis 3 = 3 (Z-axis)
Angle = α
1) The linear axes 1, 2, and 3 are assumed to form a right-
handed system in that order.
2) The angle:
- Rotates on the plane formed by linear axes 3 and 1.
- Assumes that the rotation from the forward direction of
linear axis 3 to the forward direction of linear axis 1 is
the forward rotation of the angle.
- Assumed to be 0° when it matches the direction of
linear axis 3.
3) When the angle is equal to 0°, the rotation axis:
- Rotates about the axis orthogonal to the plane formed
by linear axes 1 and 2.
- Assumes that the rotation from the forward direction of
linear axis 1 to the forward direction of linear axis 2 is
the forward rotation of the rotation axis.
4) If 0 is set for linear axis 3, type 1 is assumed.
Y
X
Z
C
α
Y
X
Z
C
B

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