YASKAWA yasnac i80m

2.12
TOOL OFFSET
(Cont’d)
2.12.6
Internal
M
Codes
for
Round-the-arc
Discrimination
(M96/M97)
(1)
The
following
M
codes
are
used.
By
parameter,
the
M9G
or
M97
can
be
selected
when
the
power
is
supplied
or
when
resetting.
/
hn-KHil
Ol-d
:
M9ti\
\
I
'in
Kin I
Dl
=
)
:
M97/
Table
2.12.14
Meaning
C»de
Tool
radius
compenihation
n.mnd-the
arc
ON
M96
Ti
»
il
radius
compemsati'
HI
nxmd-ihe-arc
OFF
(iiuersectioii
calciilaiimi
is
executed!
MOT
10
/
A
INTFKSKCl
IUN-
l<i
lUNl.'-TI
IK-AK'C
/
/
i’kt>;i<AM
L"MMAN1.I
lb!
M97
MODE
i
a
)
M
96
MODE
Fig.
2.12.73
(2)
For
a
command
shape
having
a
comer
with
180°
or
larger
tangential
angle
in
the
tool
radius
compensation
mode entered
by
G41
(or
G42),
the
tool
moves
around
that
comer
in
a
circular
arc
in
the
M96
mode.
In
the
M97
mode,
however,
the tool
locus is
not
a
circular
arc,
and
an
intersection
shifted
by
the
tool
radius
is calculated
so
that the
offset
movement
passes
that intersection.
(3)
The
move
command
blocks
in
which
M96
and
M97
commands
are
effective
are
as
shown
below.
G01
X
......
Y
:
(G01)
X
......
Y
......
M96;
G01
X
.....
.
Y F
M96
(
or
M97)
Effective
from
comer
movement
in
these
two
blocks
Effective
from
comer
in
these
two
blocks
(GOD
X Y
-
166
-