K3: Compensations
4.4 Interpolatory compensation
Extended Functions
240 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Measuring system-specific parameters of the compensation table
The position-related compensations as well as additional table parameters should be saved
in the form of system variables for each machine axis as well as for each measuring system
(if a 2nd measuring system is being used):
● $AA_ENC_COMP[<e>,<N>,<AXi>]
(Compensation value for interpolation point N in the compensation table)
<N> = interpolation point (axis position)
For every individual interpolation point the compensation value must be entered in the
table.
<N> is limited by the maximum number of interpolation points of the particular
compensation table (MD38000 $MA_MM_ENC_COMP_MAX_POINTS):
0 ≤ N ≤ MD38000 -1
The size of the compensation value is not limited.
Note
The first and last compensation values remain active over the entire traversing range;
i.e. these values should be set to "0" if the compensation table does not cover the entire
traversing range.
● $AA_ENC_COMP_STEP[<e>,<AXi>] (distance between interpolation points)
The distance between interpolation points defines the distance between the
compensation values in the relevant compensation table.
● $AA_ENC_COMP_MIN[<e>,<AXi>] (initial position)
The initial position is the axis position at which the compensation table for the relevant
axis begins (≙ interpolation point 0).
The compensation value for the initial position is $AA_ENC_COMP[<e>,0,<AXi>)].
The compensation value of interpolation point 0 is used for all positions smaller than the
initial position (does not apply for tables with modulo function).
● $AA_ENC_COMP_MAX[<e>,<AXi>] (end position)
The end position is the axis position at which the compensation table for the relevant axis
ends (≙ interpolation point <k>).
The compensation value for the end position is $AA_ENC_COMP[<e>,<k>,<AXi>)].
The compensation value of interpolation point <k> is used for all positions larger than the
end position (exception for table with modulo function).
The following supplementary conditions apply to interpolation point <k>:
– for k = MD38000 - 1:
The compensation table is fully utilized!
– for k < MD38000 - 1:
The compensation table is not fully utilized. Compensation values entered in the table
that are greater than k are ignored.
– for k > MD38000 - 1:
The compensation table is limited by a control function which reduces the end
position. Compensation values that are greater than k are ignored.
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