July 2013 6.4 Axis-error compensation 671
The axis errors are compensated via compensation value tables of the *.CMO
type. Each individual axis can be used to correct another axis with respect to the
respective individual axis. These nonlinear compensation entries make adequate
correction of positioning errors possible. If angular errors occur, however, it is only
possible to correct the positioning error with respect to a distance.
Enhanced kinematics
description
In the enhanced kinematics description, the transformation chain is linked with
the nonlinear compensation entries. The geometry errors can be described in
the column COMPTAB.
The effective directions are determined by the transformation chain.
The compensation function corrects the position of the TCP Tool Center Point.
The compensation rate depends on MP4070.
NR KEY AXIS COORD COMPTAB
...
Trans X 0.016
Trans Z 250.051
MachAxis B
Trans A 0 0.0015
MachAxis Y
MachAxis X
MachBase
MachAxis Z
Trans X -298.923
Trans Y 200.172
MachAxis C
...
[END]
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