K3: Compensations4.4 Interpolatory compensationExtended FunctionsFunction Manual, 03/2013, 6FC5397-1BP40-3BA1 249● $AN_CEC_DIRECTION[] (direction-dependent compensation)This system variable is used to set whether the compensation table [] should apply toboth traversing directions of the basic axis or only either the positive or negative direction:– $AN_CEC_DIRECTION[] = 0:Table applies to both directions of travel of the basic axis– $AN_CEC_DIRECTION[] = 1:Table applies only to the positive traversing direction of the basic axis– $AN_CEC_DIRECTION[] = -1:Table applies only to the negative traversing direction of the basic axisPossible applications:Position-dependent backlash compensation can be implemented using two tables, one ofwhich affects the positive traversing direction, the other of which affects the negativetraversing direction of the same axis.● $AN_CEC_MULT_BY_TABLE [] (table multiplication)With the table multiplication function, the compensation values of any table can bemultiplied by those of any other table (or even by the same table). The product is addedas an additional compensation value to the total compensation value of the compensationtable.Syntax:$AN_CEC_MULT_BY_TABLE[] = with: = table index of table 1 of the compensation axis = table number of table 2 of the compensation axis, withtable number = table index + 1● $AN_CEC_IS_MODULO[] (compensation with modulo function)System variable to activate/deactivate the compensation with modulo function:– $AA_CEC_COMP_IS_MODULO[] = 0: Compensation without modulo function– $AA_CEC_COMP_IS_MODULO[] = 1: Compensation with modulo functionWhen compensation with modulo function is activated, the compensation table isrepeated cyclically, i.e. the compensation value at position $AN_CEC_MAX[]corresponding to interpolation point $AN_CEC[,] is immediately followed bythe compensation value at position $AN_CEC_MIN[] corresponding tointerpolation point $AN_CEC[,0].These two compensation values should be the same as otherwise the compensationvalue jumps from MAX to MIN at the transition point and vice versa.If modulo compensation is to be implemented with a modulo rotary axis as basic axis, thecompensation table used has to be modulo calculated as well.
