July 2013 6.5 Tilting and swivel axes 743
Constraints on the
entry of a formula
Maximum length of a formula: 31 characters
Up to 64 variables in total
Mathematical operations in lowercase letters, variables in uppercase letters
The following operations are permitted in a formula:
• Addition +
• Subtraction –
• Multiplication *
• Division /
• Logarithm to the base of 10 log10
• Exponent ^
• Parentheses ( )
•Sine sin
• Cosine cos
• Tangent tan
• Arc sine asin
• Arc cosine acos
• Arc tangent atan
• Square root sqrt
Permanent
temperature
compensation
The permanent temperature compensation with the formula from the
TEMPCOMP column is only effective if the description table is active. The
algebraic sign of the compensation must match that of the axis error
compensation in Words W576 to W584.
The variables are monitored every second and changes are reported to the
position controller. The position controller uses the formula in the TEMPCOMP
column and the current angle of the rotary axes to calculate the compensation
values.
For temperature compensation, only rows with an entry in the TEMPCOMP
column are considered, including the entry 0. Any missing entry (NO ENT)
interrupts temperature compensation at this point, meaning that the
subsequent rows will not be taken into account. If rows 1 to 7 in the following
example contained no entries instead of the entry 0, the temperature
compensation would only be applied to the Z axis. The tilting axes would not
be considered. You can use this interruption of the temperature
compensation to reduce processing time if, for example, a swivel head and
tilting table follow each other in a table, but the temperature compensation is
only to be applied to the swivel head. You would then make no entry for the
tilting table in the TEMPCOMP column.
With Module 9040 or 9041, transfer value 8, the value of the temperature
compensation can be determined.
The formula is only entered for the transformations where compensation is to
occur.
A faulty syntax of the formula is not detected in the kinematic tables
(TEMPCOMP column).
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