Siemens SINUMERIK 840D sl Function Manual page 355

● Initial position ($AA_ENC_COMP_MIN[e,AXi])
● End position ($AA_ENC_COMP_MAX[e,AXi])
where 0 ≤ k < MD38000
The following supplementary conditions apply to interpolation point k:
1. when k = MD38000 - 1
2. when k < MD38000 - 1
3. when k > MD38000 - 1
● Compensation with modulo function
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
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)].
For all positions smaller than the initial position the compensation value of interpolation
point zero is used (does not apply for table with modulo).
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 $AA_ENC_COMP[e,k,AXi)].
The compensation value of interpolation point k is used for all positions larger than the
end position (exception: table with modulo functions).
The number of required interpolation points is calculated as follows:
→ the compensation table is fully utilized!
→ the compensation table is not fully utilized; compensation values entered in the table
greater than k have no effect.
→ the compensation table is limited internally by reducing the end position; compensation
values greater than k are not used.
($AA_ENC_COMP_IS_MODULO[e,AXi])
When compensation with modulo function is activated, the compensation table is
repeated cyclically, i.e. the compensation value at position $AA_ENC_COMP_MAX (≙
interpolation point $AA_ENC_COMP[e,k,AXi]) is immediately followed by the
compensation value at position $AA_ENC_COMP_MIN (≙ interpolation point
$AA_ENC_COMP[e,0,AXi]).
For rotary axes with modulo 360° degrees it is therefore suitable to program 0°
($AA_ENC_COMP_MIN) as the initial position and 360° ($AA_ENC_COMP_MAX) as the
end position.
The compensation values entered for these two positions should be the same as
otherwise the compensation value jumps from MAX to MIN at the transition point and vice
versa.
$AA_ENC_COMP_IS_MODULO[e,AXi] = 0: Compensation without modulo function
$AA_ENC_COMP_IS_MODULO[e,AXi] = 1: Compensation with modulo function
Compensations (K3)
5.4 Interpolatory compensation
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