Siemens SINUMERIK 840D sl Function Manual page 362

K3: Compensation
5.4 Interpolatory compensation
● $AA_ENC_COMP_MAX[<e>,<AXi>] (end position)
● $AA_ENC_COMP_IS_MODULO[<e>,<AXi>] (compensation with modulo function)
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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.
System variable to activate/deactivate the compensation with modulo function:
– $AA_ENC_COMP_IS_MODULO[<e>,<AXi>] = 0: Compensation without modulo
function
– $AA_ENC_COMP_IS_MODULO[<e>,<AXi>] = 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 $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.
CAUTION
When the compensation values are entered, it is important that all interpolation points
within the defined range are assigned a compensation value (i.e. there should be no
gaps). Otherwise, the compensation value that was left over from previous entries at
these positions is used for these interpolation points.
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions