Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 189

■Outside corner (obtuse angle) (90   < 180)
: Program path, : Tool center path,
LinearLinear
Single block stopping point
Compensation
Compensation
θ
ArcLinear
Single block stopping point
Compensation
Compensation
θ
Arc center
■Outside corner (acute angle) ( < 90)
: Program path, : Tool center path,
LinearLinear
Compensation
θ
Compensation
ArcLinear
Single block stopping point
Compensation
Arc center
Compensation
θ
: Tangent to the arc at intersection,
: Tangent to the arc at intersection,
Single block
stopping point
: Parallel line to program path
LinearArc
Single block
stopping point
Compensation
θ
ArcArc
Arc center
Single block
stopping point
Compensation
θ
Arc center
: Parallel line to program path
LinearArc
Compensation
θ
Compensation
ArcArc
Single block
stopping point
Arc center
Compensation
θ
6 AUXILIARY AND APPLIED FUNCTIONS
6.4 Tool Compensation Function
Arc center
Arc center
Single block
stopping point
Arc center
Compensation
6
187