A-78640E
Sheet
Title
Draw
No.
04 Feb.08.’03 Part of (4) is added or modified. Addition of 2.16.5
03 Jul.02.’02 A. Fukumoto Part of (3) is added or modified. T.Endo
02 May.13.’02 A. Fukumoto Addition of Tool Radius control for 5-axis machining etc T.Endo
Ed. Date Design Description
Date Jan.25.’02 Desig. A.Fukumoto Apprv. T.Endo
FANUC Series 16i /18i -TB
Specifications of AI High-Precision Contour Control /
I Nano High-Precision Contour control
72/190
Coordinate system C2
Z
X
Coordinate system C1
P’
R’
e
2
e
1
=V
T
D
Q’
e
3
e
2
P''
Q''
R''
'
e
3
(4) Coordinate system conversion matrix for conversion from coordinate
system C1 to coordinate system C2
The coordinate system conversion matrix for conversion from coordinate
system C1 to coordinate system C2 is represented by the following formula:
⎥
⎥
⎥
⎦
⎤
⎢
⎢
⎢
⎣
⎡
=
1
3
2
e
e
e
N
On the other hand, the coordinate system conversion matrix for conversion
from coordinate system C2 to coordinate system C1 is represented by the
following formula, using an inversion matrix:
132
1
eeeN
ttt
=
−
(5) Calculation of the coordinates P'', Q'', and R'' of P', Q', and R' in coordinate
system C2
P’’ =
N
P’
Q’’ =
N
Q’
R’’ =
N
R’
(6) Calculation of the intersection vector V
D
' on the compensation plane {O;
2
e
,
3
e
} in coordinate system C2
The intersection vector V
D
' may be calculated using two components of each
of P'', Q'', and R'', omitting the
1
e
component (component in the tool
direction).
The
1
e
component of V
D
' is regarded always 0.
The calculation method conforms to that used in two-dimensional cutter
compensation.
(7) Conversion of the intersection vector V
D
' from coordinate system C2 to
coordinate system C1
The vector V
D
' in coordinate system C2 may be converted to vector V
D
in
coordinate system C1.
V
D
=
1−
N
V
D
’
This vector, V
D
, is the three-dimensional cutter compensation vector in the
workpiece coordinate system in the state of the N2 end point.