# Fanuc Series 15i/150i-MA (Programming) Operators Manual 14.COMPENSATION FUNCTION PROGRAMMING B-63324EN/03
- 558 -
Example
- Parameter specification example
On the machine shown in Fig.14.19 (a), parameters must be specified
as follows:
The axis numbers are assumed as follows: X = 1, Y = 2, Z = 3, A = 4, B
= 5
Parameter
No.
Setting Description
6140 1 (X) Axis number of linear axis 1
6141 2 (Y) Axis number of linear axis 2
6142 3 (Z) Axis number of linear axis 3
6143 -5 (B) Axis number of rotation axis (first set)
6144 2 (Y) Axis number of the linear axis corresponding to
the rotation axis (first set)
6145 -4 (A) Axis number of rotation axis (second set)
6146 1 (X) Axis number of the linear axis corresponding to
the rotary axis (second set)
6150 0.0 Reference angle for the rotation axis (first set)
6151 0.0 Reference angle for the rotation axis (second set)
- Formulas
With the above settings, the cutter compensation vector at end point N2
in the following program is calculated as follows:
(1) Part program
A part program is created in the workpiece coordinate system.
G42.4 D1
N1 X
1
x
Y
1
y
Z
1
z
A
1
a
B
1
b
N2 X
2
x
Y
2
y
Z
2
z
A
2
a
B
2
b
N3 X
3
x
Y
3
y
Z
3
z
A
3
a
B
3
b
(2) Definitions
1
P
= (
1
x
,
1
y
,
1
z
) ,
2
P
= (
2
x
,
2
y
,
2
z
) ,
3
P
= (
3
x
,
3
y
,
3
z
)
0
P
: Origin of the table coordinate system (parameter No. 6154)
(3) Calculation of the matrix for conversion from the workpiece
coordinate system to the table coordinate system
Reference angle conversion matrix
=
00
00
00
000
cos0sin
010
sin0cos
cossin0
sincos0
001
bb
bb
aa
aaM
where
0
a
and
0
b
are the reference angles specified for
parameters Nos. 6150 and 6151.
1
P
conversion matrix
=
11
11
11
111
cos0sin
010
sin0cos
cossin0
sincos0
001
bb
bb
aa
aaM
2
P
conversion matrix
=
22
22
22
222
cos0sin
010
sin0cos
cossin0
sincos0
001
bb
bb
aa
aaM
3
P
conversion matrix 