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

14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
- 550 -
- Compensation vector
A compensation vector is created only on the plane (compensation
plane) of the axes (compensation axes) set in parameter Nos. 6056 and
6057.
On an extension of a straight line starting from the compensation center
toward the command end position, a compensation vector is created,
where the length of the vector equals the offset value specified by the
offset number in a D code. (See Fig. 14.18(a).)
If the offset value is negative, a compensation vector whose direction is
from the compensation center toward the command end position is
added to the command end position. (See Fig. 14.18(b).)
If the offset value is positive, a compensation vector whose direction is
from the command end position toward the compensation center is
added to the command end position. (See Fig. 14.18(c).)
The direction of the compensation vector can be changed by bit 3
(WCD) of parameter No. 6008.
CAUTION
The offset value is used as a radius. It can also be
used as a diameter by setting bit 0 (ODI) of
parameter No. 6008 to 1.
Compensation
Programmed path
Tool center path
Compensation
center
Z
Y
Fig. 14.18 (b) Offset Value (-)
Compensation vector
Programmed path
Tool center path
Compensation
center
Z
Y
Fig. 14.18 (c) Offset Value (+)

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