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Enhanced kinematics
description
July 2013
The axis errors are compensated via compensation value tables of the *.CMO
type. Each individual axis can be used to correct another axis with respect to the
respective individual axis. These nonlinear compensation entries make adequate
correction of positioning errors possible. If angular errors occur, however, it is only
possible to correct the positioning error with respect to a distance.
In the enhanced kinematics description, the transformation chain is linked with
the nonlinear compensation entries. The geometry errors can be described in
the column COMPTAB.
The effective directions are determined by the transformation chain.
The compensation function corrects the position of the TCP Tool Center Point.
The compensation rate depends on MP4070.
NR
KEY
...
Trans
Trans
MachAxis
Trans
MachAxis
MachAxis
MachBase
MachAxis
Trans
Trans
MachAxis
...
[END]
6.4 Axis-error compensation
AXIS
COORD
X
0.016
Z
250.051
B
A
0
Y
X
Z
X
-298.923
Y
200.172
C
COMPTAB
0.0015
671
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