Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 188

■Inside corner (obtuse angle) (90   < 180)
: Program path,
LinearLinear
Compensation
ArcLinear
Compensation
Single block
stopping point
Arc center
■Inside corner (acute angle) ( < 90)
: Program path,
LinearLinear
θ
Compensation
Compensation
ArcLinear
θ
Single block
stopping point
6 AUXILIARY AND APPLIED FUNCTIONS
186
6.4 Tool Compensation Function
: Tool center path, : Tangent to the arc at intersection,
θ Compensation
Single block
stopping point
θ
Compensation
: Tool center path, : Tangent to the arc at intersection,
Single block
stopping point
Arc center
Compensation
Compensation
: Parallel line to program path
LinearArc
θ
Compensation
Single block
stopping
point
Arc center
ArcArc
Single block stopping point
Compensation
Arc center
: Parallel line to program path
LinearArc
θ
Compensation
Single block
stopping point
ArcArc
Arc center
θ
Arc center
Single block
stopping point
Compensation
Compensation
θ
Arc center
Arc center
Compensation
Compensation
Compensation