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
73/190
• Calculation used when the compensation plane is changed
(1) When a rotation axis and linear axis are specified at the same time
When a rotation axis and linear axis are specified in the same block in the
G41.2 or G42.2 mode (the compensation plane changes frequently), the
cutter compensation vector is calculated using the coordinates of the rotation
axis at each point at which the vector is obtained.
<Example>
G90 G00 X0 Y0 Z0 B0 C0 ;
G01 F1000 ;
N1 G42.2 Xp Yp Zp Bp Cp D1 ;
N2 Xq Yq Zq Bq Cq ;
N3 Xr Yr Zr Br Cr ;
N4 Xs Ys Zs Bs Cs ;
:
Vector calculation at the end point (Q) of block N2
- The tool vector (V
T
) and coordinate conversion matrix (M) are calculated
using the coordinates (Bq, Cq) of the rotation axis at point Q.
- The cutter compensation vector is calculated using the resultant
coordinates into which three points, P, Q, and R, are converted by matrix
M.
O
P
N1
N2
Q
N3
R
N4
SS'
P'
Q'
R'
Fig. 2.17.3 (h) When a Rotation Axis and Linear Axis Are Specified at the Same
Time