YASKAWA yasnac i80m Instruction Manual page 177

(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
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