YASKAWA yasnac i80m

(c)
Type
B:
Automatic
offset
at
occurrence
of interference
If
it
is
assumed that
interference
occurs
as
a
result
of
tool
radius
compensation
calculation,
interference-generating
movement
is
erased
and
a
non-interfering
path
is
created.
(
i)
1,1
X
\
ET
\
X
(HI
X
X
Nl
f
,
N.:
f.i
NJ
Fig.
2.12.61
Automatic
Correction
'!>
at
Occurrence
of
Interference
In
(
i
),
three
points
fl,
f2,
f3
are
created
at
the
N1-N2
connection
by
radius
compensation
calculation.
Also,
f4
is created
at
N2-N3.
Here,
interference
check is
executed
for four
points
from
fl
to
f4,
and
interference-generating
points
are
sequentially
erased and the
tool
center
path
is
created
by
connecting
the
remaining
points.
Checked for
f3
—
f4:
Interfering
f3
erased
Checked for
f2
—
f4:
Interfering
f2
erased
Checked for
fl
—
f4:No
interference
Moved
to
(1)
—
fl
—
t‘4
—
(2)
-
153
-