NUM 1020 - Page 105

Coordinate Conversions
en-938872/2 7 - 5
7
7.3 Application of Coordinate Conversion
Coordinate conversion must be applied after the interpolators but before processing
of any dynamic operators and interaxis calibration.
Schematic Representation
Interpolator
Interpolated
references
E7x100
Converted
references
E7x000
Dynamic
operators
Measurement
E9000x
Correction
references
E9500x
X'=K.X
Following
error
+
+
-
→→
Interaxis calibration uses the converted references to calculate the corrections.
Parameter E7x100 (read-only) applies to the position references output by the
interpolators.
7.3.1 Restrictions and Conditions of Use
Copying (with or without conversion) the E7x100 interpolated references into the
references used in the servo-control, E7x000, is carried out only for the axes declared
in machine parameters P2 or P3 (possibly modified by parameter E9100x). It is
necessary to take this into account in applications with dynamic operators using
dummy axes.
The dynamic operators that calculate reference corrections (E9500x: destination
operand) should not be declared when the conversion matrix is enabled. It is
necessary to proceed as follows:
- cancel the conversion matrix (G24-),
- declare the dynamic operators,
- reenable the conversion matrix (G24+ ...).
The other declarations that can be made with the conversion matrix disabled are as
follows:
- activation and deactivation of interaxis calibration by E9400x,
- declaration of an axis as servo-controlled or not by E9100x,
- activation and deactivation of dynamic operators 15, 20 and 21,
- homing.
7.3.2 Processing Time
Conversion processing time: 80 microseconds.
Interpolation preparation time: 500 microseconds more.