Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 193

Tool radius compensation (G41, G42) and I, J, K command (I, J type vector command)
By commanding tool radius compensation (G41, G42) and "I, J, K" in the same block, the direction of compensation can be
changed at will. An example using "I, J type vector (G17 plane)" is used to describe the vector created by tool radius
compensation commands (G41, G42).
"I, J type vector" does not calculate the intersection of the programmed path. Instead, the compensation vector is found by
compensating the compensation amount perpendicular to the direction specified by "I, J". The I, J vector can be commanded
at the start of compensation or during compensation mode. The compensation amount is determined by the compensation
No. (modal data) of the block where I, J are specified.
■Commanding "I, J" at compensation start
: Program path, : Tool center path
• With a movement command
I, J type vector
When "I, J" is commanded
When "I, J" is not commanded (type A)
• No movement command
I, J type vector
When "I, J" is commanded
When "I, J" is not commanded (type A)
Program
(G40)
to
N100 G91 G41 X100 Y100 I100 J150 D01
N110 G04 P1000
N120 G01 F1000
N130 X150
(G40)
to
N100 G91 G41 X100 Y100 D01
N110 G04 P1000
N120 G01 F1000
N130 X150
Program
(G40)
to
N1 G41 I150 D01
N2 G91 X100 Y100
N3 X150
(G40)
to
N1 G41 D01
N2 G91 X100 Y100
N3 X150
Operation
Y
N110
N130
N120
I, J type vector
D01
100
N100
100
N110
Y
N120 N130
D01
100
N100
100
Operation
Y
N3
100
N2
D01
N1
I, J type vector
100
Y
N2
100
D01
N1
100
6 AUXILIARY AND APPLIED FUNCTIONS
6.4 Tool Compensation Function
D01
X
200 300
D01
X
200 300
D01
X
200 300
N3
D01
X
200 300
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