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

B-63324EN/03 PROGRAMMING 4.INTERPOLATION FUNCIONS
- 75 -
Fig.4.10 (k)
- Feedrate during cutting point compensation
(1) The tool moves at a specified feedrate while cutting point
compensation is being applied between blocks.
(2) The actual speed indication and feedrate during circular
interpolation are as described below.
Actual speed indication
The speed component of each axis after cutting point compensation
at a point in time during circular interpolation is as follows:
-6-67 = - - - Speed component of linear axis
Vcs)-(VceFcFc’ += - - - Speed component of rotation axis
180
r
Vcs)-(Vce-Fy’
= - - - Speed component of offset axis
Fz : Speed component of a cylindrical interpolation linear
axis before cutting point compensation
Fc : Speed component of cylindrical interpolation rotation
axis before cutting point compensation
Vcs: Rotation axis component of a tool contact point vector
(Vs in the figure) at the start point at a point in time
Vce:Rotation axis component of tool contact point vector
(Ve in the figure) at the end point at a point in time
r : Radius of the cylinder of a rotation axis
Accordingly, the actual speed indication during circular
interpolation is greater than the specified value when |Fc’| >
|Fc|(inner offset of the arc). Conversely, the actual speed
indication during circular interpolation is less than the
specified value when |Fc| < |Fc|(outer offset of the arc).
Y-axis
X-axis
C1
C2
V1
Tool center path (G42)
Programmed path
V2 FA-axis component C3 - C1
C1 FCutting surface of block N1
C1 FCutting surface of block N2
C3 FCutting surface of block N3
Vector S2C1 = Vector S2C1'
N1
N2
S1
A-axis on the cylindrical surface
Normal direction vector
Tool
C3
S2
N3
V2
L1
C1
L2

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