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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
- 531 -
- Specification of the magnitude of a compensation vector
By setting parameter No. 6011, the magnitude of a compensation
vector can be specified.
S
I
lXx +=
S
J
lYy +=
S
K
lZz +=
where,
zyx ,, : Tool center position (absolute coordinates)
ZYX ,, : Tool tip position (absolute coordinates)
(Programmed position)
KJI ,, : Tool axis direction
l : Tool offset value
S : Parameter No. 6011
When parameter No. 6011 = 0, however,
222
KJIS ++= .
- Feedrate in the specified-direction tool length compensation mode
As the feedrate used in specified-direction tool length compensation,
the feedrate on the axes excluding the rotation axes is used. When bit 2
(FWR) of parameter No. 7711 is set to 1, however, the feedrate on all
axes including the rotation axes is used.
- Example of machine configuration and expression for rotation axis calculation
(1) When the rotation axes are the A- and C-axes, and the tool axis is
the Z-axis
C
A
Z
X
Y
Workpiece
C
A
J
I
c
K
JI
a
=
+
=
1
22
1
tan
tan

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