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

B-63324EN/03 PROGRAMMING 14.COMPENSATION FUNCTION
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Explanations
- Specification of tool center point control
The tool compensation vector changes in the following cases:
Type 1 : The offset value is changed, or the rotation axis position
(B, C) is specified.
Type 2 : The offset value is changed, or the tool axis orientation (I,
J, K) is specified.
As the tool compensation vector changes, movement is performed
along the X-, Y-, and Z-axes by an amount equal to the change. The
time at which the tool compensation vector is calculated is as follows:
Tool center point control : Calculated momentarily even in the
middle of a block.
Tool length compensation along the tool axis : Calculated only at
the end point of a block.
Tool length compensation in a specified direction : Calculated
only at the end of a block
When only the rotation axis position is specified in tool center point
control (type 1) mode, and when only I, J, and K are specified in tool
center point control (type 2) mode, the tool tip center position remains
unchanged before and after the specification. (Also, while the rotation
axes are being moved, the tool tip center does not move.)
- Inclination of the tool
For tool center point control (type 2), the inclination angle of the tool
can be specified with address Q of G43.5. The inclination angle of the
tool is the difference in the angle between the tool orientation specified
by (I, J, K) and the tool orientation set for actual machining.
If the tool orientation specified by (I, J, K) matches the tool orientation
set for actual machining, Q need not be specified.
Tool orientation specified by
(I,J,K)
Tool orientation during actual machining
Machining direction
Inclination angle of the tool
Example: For machining with the tool tilted toward the machining
direction by 2 degrees, specify the following:
G43.5 I_ J_ K_ H_ Q2.0