K3: Compensations
4.4 Interpolatory compensation
Extended Functions
250 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Example:
MD30300 $MA_IS_ROT_AX[AX1]=1 ; rotary axis
MD30310 $MA_ROT_IS_MODULO[AX1]=1 ; modulo 360°
$AN_CEC_INPUT_AXIS[0] = AX1
$AN_CEC_MIN[0] = 0.0
$AN_CEC_MAX[0] = 360.0
$AN_CEC_IS_MODULO[0] = 1
System of units
Table parameters containing position information are automatically converted when the
system of units is changed (change from MD10240 $MN_SCALING_SYSTEM_IS_METRIC).
The position information is always interpreted in the current measuring system. Conversion
must be implemented externally.
Automatic conversion of the position data can be configured as follows:
MD10260 $MN_CONVERT_SCALING_SYSTEM = 1
With this setting, the following axial machine data is activated:
MD32711 $MA_CEC_SCALING_SYSTEM_METRIC (measuring system for sag
compensation)
The measuring system for all tables effective for this axis is set in this machine data. Hereby,
all position entries are interpreted together with the calculated total compensation value in
the configured measuring system. External conversions of position information are no longer
necessary with a measuring system change.
Monitoring
To avoid excessive velocities and acceleration rates on the machine axis as a result of
applying sag compensation, the total compensation value is monitored and limited to a
maximum value.
The maximum possible total compensation value for sag compensation is defined on an
axis-for-axis basis using the machine data:
MD32720 $MA_CEC_MAX_SUM (maximum compensation value for sag compensation)
If the determined total compensation value is greater than the maximum value, then a
corresponding alarm is output. Program processing is not interrupted. The compensation
value output as an additional setpoint is limited to the maximum value.
Further, changing the total compensation value is also axially limited:
MD32730 $MA_CEC_MAX_VELO (velocity change for sag compensation)
The specified value acts as a factor and is referred to the maximum axis velocity (MD32000
$MA_MAX_AX_VELO).
An appropriate alarm is signaled when the limit value is exceeded. Program processing is
not interrupted. The path not covered because of the limitation is made up as soon as the
compensation value is no longer subject to limitation.
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