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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
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Up to two sets of such parameter settings can be specified. Thus, it is
possible to compensate a slant rotary head controlled with two rotation
axes. For the calculation of the compensation amount, calculation is
performed on the first rotation axis, and using the results, calculation is
performed on the second rotation axis. For two rotation axes, if the
rotation plane varies due to the rotation of another rotation axis, set the
rotation plane assumed when the position of the rotation axis is 0°. For
a single rotation axis, set 0 for the second rotation axis.
Reference angles of rotation axes and directions of compensation vectors
[6104 to 6107]
These parameters set the reference angles of rotation axes and the
directions of compensation vectors.
(1) Reference angles (θ0, φ0) of rotation axes [6104 and 6105]
Set the position of a rotation axis when setting a compensation
vector as described in (2).
Usually, set 0.
(2) Directions of compensation vectors [6106 and 6107]
As the direction of a compensation vector, set the rotation angle
(RA, RB) in relation to the direction of linear axis 3 (usually, Z
direction).
RA: The rotation from the forward direction of linear axis 2 to the
forward direction of linear axis 3 in the plane formed by
linear axes 2 and 3 is assumed to be forward rotation.
RB: The rotation from the forward direction of linear axis 3 to the
forward direction of linear axis 1 in the plane formed by
linear axes 3 and 1 is assumed to be forward rotation.
Linear axes 1, 2, and 3 are those specified for the parameters
described in the previous section.
If linear axis 3 is not set (type 1), linear axis 3 is assumed to be the
Z-axis.