Turbo_PMAC_初级培训(2011.10)技术总结.ppt

Turbo PMAC Training * 2D Planar compensation table, Δz = F(x,y) x, #1 y, #2 z, #3 Raw Position Data Compensated Data Δz Define Comp 15.20,#1,#2,#3,20000,15000 Table columns Table rows 1st source motor 2nd source motor 2nd motor span in cts 1st motor span in cts Target motor Compensation Tables Turbo PMAC Training * M 0 500 1000 1500 2000 2500 3000 3500 4000 (cts) Note: Corrections between entry counts are linearly interpolated. Compensation table will roll over after 4000 counts. 0 -10 5 7.5 5 0 -5 -2.5 0 (cts) Position Error Position Define Comp 8,#1,#2,4000 ; Table of 0~8 entries over 4000 cts, ; motor 1 as source, motor 2 as target 160 ; Correction at 4000/8 = 500 cts is 160/16 = 10 cts -80 ; Correction at 1000 counts is -5 counts -120 ; Correction at 1500 counts is -7.5 counts -80 ; Correction at 2000 counts is -5 counts 0 ; Correction at 2500 counts is 0 counts 80 ; Correction at 3000 counts is 5 counts 40 ; Correction at 3500 counts is 2.5 cts 0 ; Correction at 4000 (and 0) cts is zero Turbo PMAC Script Implied correction value 0 at first position Compensation Tables 1D Compensation Table Example Turbo PMAC Training * Define Comp 4.5,#1,#2,#3,50000,40000 ; Define a table with 5 rows, ; 6 columns. Motor 1 2 as ; sources with 50k 40k cts span 38 45 -22 -35 0 ; Correction Row 0, Columns 1-5 24 56 13 -34 -8 24 ; Correction Row 1, Columns 0-5 18 43 -9 -65 32 18 ; Correction Row 2, Columns 0-5 -6 28 22 -38 12 -6 ; Correction Row 3, Columns 0-5 0 38 45 -22 -35 0 ; Correction Row 4, Columns 0-5 Note: With an implied correction value of 0 for the zeroth entry, Rows 0 and 4 are identical, as are Columns 0 and 5. Implied correction value 0 Turbo PMAC Script Compensation Tables 2D Compensation Table Example Turbo PMAC Training * End Gat Del Gat Close Open Prog 12 Clear Enable PLC 10 While(M11=1) ; While machine input 1 is high Dwell 0 ; Stop lookahead in program M199=$9 ; Freeze time