K3: Compensations
4.4 Interpolatory compensation
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
235
4.3.2.2 Commissioning
Compensation value for the dynamic backlash compensation
Once the mechanical backlash at highspeed has been determined by measurement and
compensated using MD32450 $MA_BACKLASH (see "Commissioning (Page 233)" of the
mec
hanical backlash compensation), the same measurement action is repeated for slower
velocities. The backlash now measured represents the compensation value for the dynamic
backlash compensation. The value is entered in the machine data:
MD32456 $MA_BACKLASH_DYN (compensation value for dynamic backlash
compensation)
Limitation of the compensation value change
Compensation value for the dynamic backlash compensation is applied as ramp. The ramp
is specified by the following machine data:
MD32457 $MA_BACKLASH_DYN_MAX_VELO (limitation of the dynamic backlash
compensation value change)
The value is specified as percentage of the configured maximum axis velocity
(MD32000 $MA_MAX_AX_VELO). The standard setting is 1%.
4.4 Interpolatory compensation
4.4.1 General properties
Function
The "Interpolatory compensation" function allows position-related dimensional deviations (for
example, leadscrew and measuring system errors, sag and angularity errors) to be
corrected.
The compensation values are measured during commissioning and stored in a table as a
position-related value. During operation, the corresponding axis is compensated between
interpolation points during linear interpolation.
Methods
Within "interpolatory compensation", a distinction is made between the two following
compensation methods:
● Compensation of leadscrew errors and measuring system errors
● Compensation of sag and angularity errors
Many of the characteristics of these two compensation methods are identical and are
therefore subsequently described for the two methods.
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