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Related Manuals for Beckhoff TF5200
Summary of Contents for Beckhoff TF5200
- Page 1 Manual | EN TF5200 | TwinCAT 3 CNC Axis compensation 3/13/2023 | Version: 1.22...
- Page 3 EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilisation of this document as well as the communication of its contents to others without express authorisation are prohibited.
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Page 4: General And Safety Instructions
Programming example (complete NC program or program sequence) of the described function or NC com- mand. Specific version information Optional or restricted function. The availability of this function depends on the configuration and the scope of the version. Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 5: Table Of Contents
Unit of the length entries (P-COMP-00017) .............. 25 3.3.3 Distance between interpolation points (P-COMP-00018) .......... 25 3.3.4 Start position of compensation values (P-COMP-00019) .......... 25 3.3.5 Number of compensation values (P-COMP-00020)............ 26 TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... - Page 6 Accelerations of the master axis (P-COMP-00066) ............ 33 3.5.5 Correction values for the slave axis (P-COMP-00067) ............ 34 3.5.6 Manual activation of crosstalk compensation (P-COMP-00073)........ 34 4 Support and Service .......................... 35 Index ................................. 36 Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation...
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Page 7: Overview Of Compensation Parameters
P-COMP-00015 [} 21] master axis 2 (plane compensation) kw.crosscomp2.table[i][j]. correction Compensation values for the P-COMP-00016 [} 23] slave axis (plane compensation) kw.ssfk. unit Unit of the length/position P-COMP-00017 [} 25] entries (leadscrew error compens.) TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... - Page 8 Delay value for current build- P-COMP-00043 [} 31] up (friction compensation) frict_comp. reversal_lookahead Reversal look ahead (friction P-COMP-00044 [} 31] compensation) frict_comp. scaling_factor Scaling factor for the P-COMP-00045 [} 31] compensation values (friction compensation) Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation...
- Page 9 P-COMP-00065 [} 33] value table kw.crosstalk.table[i]. acceleration Accelerations of the master P-COMP-00066 [} 33] axis kw.crosstalk.table[i]. correction Compensation values for the P-COMP-00067 [} 34] slave axis kw.crosstalk.master_ax_n manual_activation Manual activation of crosstalk P-COMP-00073 [} 34] compensation TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation...
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Page 10: General Description
Compensation is activated in the associated axis machine record: Compensation procedure Activation parameters Cross compensation P-AXIS-00047 Plane compensation P-AXIS-00174 Leadscrew error compensation P-AXIS-00175 Friction compensation P-AXIS-00522 Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 11: Syntax And Interpretation Of Ascii List File
ASCII list file. The following agreement applies to BOOLEAN data: Value Meaning Definition of FALSE Definition of TRUE TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 12: Comments In The Ascii List File
Comments in the ASCII list file # ************************************************************************ # Data # ************************************************************************ # Listing dummy[1] 1 Comment dummy[2] 1 # Comment dummy[3] 1 ( Comment dummy[4] 1 /* Comment beispiel[0].bezeichnung STRING_2 (Comment: comment brackets required here!) Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 13: The Compensation List Header (Kopf.*)
This axis name of the axis is used only for diagnostic purposes and has otherwise no meaning. Parameter kopf.log_achs_name Data type STRING Data range Maximum 16 characters (length of axis name, application-specific) Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 14: General Compensation Value Data (Kw.*)
0 ≤ last_index < P-COMP-00060 [} 14] Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks P-COMP-00060 [} 14] is available as of Build V3.1.3079.06. The upper limit in previous CNC versions is 1000. Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 15: Logical Axis Number Of The Master Axis (P-Comp-00005)
NC program, at CNC reset and on axis release. Parameter kw.crosscomp.manual_activation Data type BOOLEAN Data range 0: Automatic activation 1: Manual activation in NC program Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 16: Table Of Compensation Values (Kw.crosscomp.table[I].*)
'i'. Parameter kw.crosscomp.table[i].correction Data type SGN32 Data range MIN(SGN32) ≤ correction < MAX(SGN32) Axis types T, R, S Dimension T: 0.1 µm or increments R,S: 0.0001° or increments Default value Remarks Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 17: Example Of A Compensation Value List
1:Metric in 0.1 µm*/ kw.crosscomp.n_cycles 10 kw.crosscomp.table[0].setpoint 10735 kw.crosscomp.table[0].correction 3 kw.crosscomp.table[1].setpoint 11523 kw.crosscomp.table[1].correction 5 kw.crosscomp.table[99].setpoint 10000000 /*at 1000 mm of axis 3*/ kw.crosscomp.table[99].correction 1000 /*corr. of 0.1 mm for axis 1*/ TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 18: Plane Compensation (Kw.crosscomp2.*)
Description This parameter defines whether the identical interpolation point distance is used for the two master axes or whether the distances for the two master axes are defined individually. Parameter kw.crosscomp2.grid Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 19: Distance Between Interpolation Points (P-Comp-00009)
(P-COMP-00031 [} 18](grid) = RECTANGULAR). Parameter kw.crosscomp2.interval2 Data type UNS32 Data range 0 < interval2 < MAX(UNS32) Axis types T, R, S TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 20: Last Index Of Master Axis 1 (P-Comp-00010)
Parameter kw.crosscomp2.start_position_master1 Data type SGN32 Data range MIN(SGN32) ≤ start_position_master1 < MAX(SGN32) Axis types T, R, S Dimension T: 0.1 µm or increments R,S: 0.0001° or increments Default value Remarks Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 21: Start Position Of Master Axis 2 (P-Comp-00013)
UNS16 Data range 0 ≤ n_cycles ≤ 20 (maximum number of cycles for which cross compensation is activated/deactivated, application-specific) Axis types T, R, S Dimension T: ---- R,S: ---- Default value TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 22: Manual Activation (P-Comp-00030)
CNC reset and on axis release. Parameter kw.crosscomp2.manual_activation Data type BOOLEAN Data range 0: Automatic activation 1: Manual activation in NC program Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 23: Table Of Compensation Values (Kw.crosscomp2.Table[J][I].*)
Parameter kw.crosscomp2.table[j][i].correction Data type SGN32 Data range MIN(SGN32) ≤ correction < MAX(SGN32) Axis types T, R, S Dimension T: 0.1 µm or increments R,S: 0.0001° or increments Default value Remarks TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 24: Example Of A Compensation Value List
The size of the actually used compensation table is defined by `kw_nr_max` (P- COMP-00020 [} 26]) and `kw_nr_max` must be smaller than `max_points`. Parameter kw.ssfk.max_points Data type UNS32 Data range 0 <= P-COMP-00059 Axis types T, R, S Dimension T: ---- R,S: ---- Default value 1500 Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 25: Unit Of The Length Entries (P-Comp-00017)
Parameter kw.ssfk.kw_startpos Data type SGN32 Data range MIN(SGN32) ≤ kw_startpos < MAX(SGN32) Axis types T, R, S Dimension T: 0.1 µm or increments R,S: 0.0001° or increments Default value Remarks TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 26: Number Of Compensation Values (P-Comp-00020)
0: Compensation without modulo handling 1: Compensation for a modulo axis Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks 3.3.8 Manual activation (P-COMP-00028) P-COMP-00028 Manual activation Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 27: Consideration Of Other Axis Compensations (P-Comp-00057)
0: Compensation values of other compensations are considered in the leadscrew error compensation. 1: Compensation values of other compensations are not considered. Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 28: Table Of Compensation Values (Kw.ssfk.table[I].*)
Dimension T: 0.1 µm or increments R,S: 0.0001° or increments Default value Remarks In CNC Builds V2.11.20xx and higher, the data type is SGN32 and so is the related data range. Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 29: Example Of A Compensation Value List
80 x 0.1 μm Example of a compensation value list kopf.log_achs_nr 2 kopf.log_achs_name Y-ACHSE kw.ssfk.interval 0 kw.ssfk.kw_startpos -200000 kw.ssfk.kw_nr_max 140 kw.ssfk.unit 1 kw.ssfk.bilateral 1 kw.ssfk.table[0].setpoint -200000 kw.ssfk.table[1].setpoint -199306 kw.ssfk.table[2].setpoint -198667 kw.ssfk.table[3].setpoint -198001 kw.ssfk.table[138].setpoint 334488 kw.ssfk.table[139].setpoint 335591 kw.ssfk.table[0].pos 0 kw.ssfk.table[1].pos 24 kw.ssfk.table[2].pos -102 kw.ssfk.table[139].pos -55 kw.ssfk.table[0].neg 0 kw.ssfk.table[1].neg 67 kw.ssfk.table[2].neg 80 kw.ssfk.table[139].neg 114 TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 30: Friction Compensation (Frict_Comp.*)
3: Compensation with additive current taking into account the commanded speed Axis types T, R, S Dimension T: ---- R,S: ---- Default value Remarks To activate friction compensation, the mode must and P-AXIS-00522 must be set. Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 31: Number Of Elements In The Compensation Value Table (P-Comp-00042)
This parameter defines the scaling of all compensation values in the list. Parameter frict_comp.scaling_factor Data type SGN16 Data range MIN(SGN16) < scaling_factor < MAX(SGN16) Axis types T, R, S Dimension T: 0.1% R,S: 0.1% TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 32: Velocity Input Variable (P-Comp-00046)
Data range 0 ≤ delay_cycles < 249 Axis types T, R, S Dimension T: Cycles R,S: Cycles Default value Remarks Crosstalk compensation (kw.crosstalk.*) The crosstalk compensation function is activated by P-AXIS-00789. Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 33: Logical Axis Number Of The Master Axis (P-Comp-00063)
Description This parameter defines the accelerations of the master axis requiring a correction of the slave axis. Parameter kw.crosstalk.table[i].acceleration Data type SGN32 Data range MIN(SGN32) ≤ P-COMP-00066 < MAX(SGN32) Axis types TF5200 | TwinCAT 3 CNC Version: 1.22 Axis compensation... -
Page 34: Correction Values For The Slave Axis (P-Comp-00067)
Data type BOOLEAN Data range 0: Automatic activation 1: Explicit activation in NC program Axis types Dimension T, R, S Default value Remarks Parameter available as of CNC Build V3.1.3079.32 and higher Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... -
Page 35: Support And Service
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on our internet page: www.beckhoff.com You will also find further documentation for Beckhoff components there. -
Page 36: Index
31 P-COMP-00045 31 P-COMP-00046 32 P-COMP-00047 32 P-COMP-00057 27 P-COMP-00058 32 P-COMP-00059 24 P-COMP-00060 14 P-COMP-00061 18 P-COMP-00062 30 P-COMP-00063 33 P-COMP-00064 33 P-COMP-00065 33 P-COMP-00066 33 P-COMP-00067 34 P-COMP-00073 34 Version: 1.22 TF5200 | TwinCAT 3 CNC Axis compensation... - Page 38 More Information: www.beckhoff.com/TF5200 Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...