Siemens SINUMERIK Series Function Manual page 244

K3: Compensations
4.4 Interpolatory compensation
The error must be recorded in the form of a compensation table that contains a
compensation value for the Z1 axis for every actual value position in the Y1 axis. It is
sufficient to enter the compensation values for the interpolation points.
When the Y1 axis traverses, the control calculates the corresponding compensation value in
the Z1 axis in interpolation cycles performing linear interpolation for positions between the
interpolation points. This compensation is sent to the position control loop as an additional
setpoint. A positive compensation value causes the corresponding machine axis to move in
the negative direction.
Depending on the requirement, several compensation relations can be defined for one axis.
The total compensation value results from the sum of all the compensation values of this
axis.
Setting options
The many ways in which the compensation value for sag compensation can be
produced/influenced are listed below (see diagram below).
1. An axis can be defined as the input variable (base axis) for several compensation tables
2. An axis can be defined as the recipient of the output variable (compensation axis) of
3. An axis can be both a base axis and a compensation axis at any one time. The
4. The scope of action of the compensation (starting and end position of the base axis) and
5. Compensation can be direction-dependent (settable via system variables).
6. Every compensation table has a modulo function for cyclic evaluation (settable via
system variables).
7. A weighting factor by which the table value is multiplied (definable as a setting data which
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(settable via system variables).
several compensation tables (settable via system variable). The total compensation value
is derived from the sum of the individual compensation values.
The following definitions apply for the maximum number of possible compensation tables:
– Maximum number of tables available for all axes:
2 * maximum number of axes of system
– Maximum number of tables configured for one particular compensation axis:
1 * maximum number of axes of system
programmed (required) position setpoint is always used to calculate the compensation
values.
the distance between the interpolation points can be defined for every compensation
table (settable via system variables).
can therefore be altered by the part program, PLC or the user at any time) can be
introduced for every compensation table.
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions