YASKAWA yasnac i80m Instruction Manual page 167

(b) Type
B: Switched
at
the intersection of tool
center
path
(offset-applied path)
s
/L
INTERSECTION
/
V'.
' d
(r4l
I'ltt
l
ft
d
/
/
/
r.4i
i
04.'
*
i
i
IN TERSECTION
-ÿ
;
s
Fig. 2.12.44 Switching at
Intersection
of
Tool Center
Path
If there is no intersection, switching is accomplished by the Type A method.
V
G4l
/
I
\
I
\
r.4i
\
i
i
\
\*
*\
me
\
Fig. 2.12.45 Switching for No Intersection
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143
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