K3: Compensations
4.4 Interpolatory compensation
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
249
● $AN_CEC_DIRECTION[<index>] (direction-dependent compensation)
This system variable is used to set whether the compensation table [<t>] should apply to
both traversing directions of the basic axis or only either the positive or negative direction:
– $AN_CEC_DIRECTION[<index>] = 0:
Table applies to both directions of travel of the basic axis
– $AN_CEC_DIRECTION[<index>] = 1:
Table applies only to the positive traversing direction of the basic axis
– $AN_CEC_DIRECTION[<index>] = -1:
Table applies only to the negative traversing direction of the basic axis
Possible applications:
Position-dependent backlash compensation can be implemented using two tables, one of
which affects the positive traversing direction, the other of which affects the negative
traversing direction of the same axis.
● $AN_CEC_MULT_BY_TABLE [<index>] (table multiplication)
With the table multiplication function, the compensation values of any table can be
multiplied by those of any other table (or even by the same table). The product is added
as an additional compensation value to the total compensation value of the compensation
table.
Syntax:
$AN_CEC_MULT_BY_TABLE[<index>] = <number>
with:
<index> = table index of table 1 of the compensation axis
<number> = table number of table 2 of the compensation axis, with
table number = table index + 1
● $AN_CEC_IS_MODULO[<index>] (compensation with modulo function)
System variable to activate/deactivate the compensation with modulo function:
– $AA_CEC_COMP_IS_MODULO[<index>] = 0: Compensation without modulo function
– $AA_CEC_COMP_IS_MODULO[<index>] = 1: Compensation with modulo function
When compensation with modulo function is activated, the compensation table is
repeated cyclically, i.e. the compensation value at position $AN_CEC_MAX[<index>]
corresponding to interpolation point $AN_CEC[<index>,<k>] is immediately followed by
the compensation value at position $AN_CEC_MIN[<index>] corresponding to
interpolation point $AN_CEC[<index>,0].
These two compensation values should be the same as otherwise the compensation
value jumps from MAX to MIN at the transition point and vice versa.
If modulo compensation is to be implemented with a modulo rotary axis as basic axis, the
compensation table used has to be modulo calculated as well.
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