Yaskawa YASNAC PC NC Programming Manual - Manual (Page 119)

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YASNAC PCNC Programming Manual Chapter 3: Movement Control Commands
(b) Type B: pm4013 D4 = 0 Correcting the tool paths
If the function detects possible interference after the calculation of the offset tool paths,
the function clears the tool paths that might cause interference and generates the paths that
are free of interference.
• Generating interference-free paths for straight-line to straight-line motion
For the programmed paths as shown in Fig. 3.4.4.49, three points f
l
, f
2
, and f
3
are gen-
erated at the joint of blocks N1 and N2 according to the tool radius offset function.
Point f4 is also generated at the joint of N2 and N3. Interference check is made using
these four points f
1
to f
4
and the points causing interference are erased one by one until
the tool paths that are free of interference are generated.
Checked for f
3
- f
4
: Erasing f
3
since interference occurs.
Checked for f
2
- f
4
: Erasing f
2
since interference occurs.
Checked for f
1
- f
4
: No interference Tool paths are generated as
€ Å f
l
Å f
4
Å ó.
FIGURE 3.4.4.49 Generating Tool Paths without Interference
(Straight-line to Straight-line)