|
<< 点击显示目录 >> 主页 轴控开发使用手册 > ACP10/ARNC0帮助信息 > ACP10_MC运动库 > 分类的功能块 > 驱动器准备 > MC_BR_MechPosDeviationComp > Compensation data |
Load position ... Position of the load (mechanical position), measured with an external measuring instrument (e.g. laser)
Axle position ... Position of the axis that is available in the drive or PLC (position setpoint or actual position)
Encoder position ... Position of the load encoder (two-sensor control), only for "PositionSource" = mcENCODER_POSITION
Modes mcDIR_DEPENDENT, mcDIR_DEPENDENT_SET_POSITION, mcDIR_DEPENDENT_BACKLASH, mcDIR_INDEPENDENT, mcDIR_INDEPENDENT_SPEED
"Parameters.Periodic" = mcNON_PERIODIC (default)
".CompData(Pos/Neg).AdrPositions" is the address of an array of REAL with load positions in PLCopen units at which the deviations (".CompData(Pos/Neg).AdrDeviations") were measured. Deviation = Axis position - Load position.
Example:
Position[0] := -20.0;
Position[1] := -10.0;
Position[2] := 0.0;
Position[3] := 10.0;
Position[4] := 20.0;
Position[5] := 30.0;
Position[6] := 40.0;
Position[7] := 50.0;
Parameters.DirectionIndependent.CompData.AdrPositions := ADR(Position);
".CompData(Pos/Neg).AdrDeviations" is the address of an array of REAL with deviations (Axis position - Load position) in PLCopen units that were measured as certain load positions (".CompData(Pos/Neg).AdrPositions").
Example:
Deviation[0] := 0.002;
Deviation[1] := -0.001;
Deviation[2] := 0.001;
Deviation[3] := 0.003;
Deviation[4] := 0.002;
Deviation[5] := 0.004;
Deviation[6] := 0.006;
Deviation[7] := 0.005;
Parameters.DirectionIndependent.CompData.AdrDeviations := ADR(Deviation);
".CompData(Pos/Neg).NumberOfPoints" is the number of specified compensation data points.
Example:
Parameters.DirectionIndependent.CompData.NumberOfPoints := 8;
"Parameters.Periodic" = mcPERIODIC
".CompData(Pos/Neg).AdrPositions" is the address of an array of REAL with load positions in PLCopen units at which the deviations (".CompData(Pos/Neg).AdrDeviations") were measured. The positions are specified over one axis period. Deviation = Axis position - Load position.
Example (period = 100.0):
Position[0] := 0.0;
Position[1] := 20.0;
Position[2] := 40.0;
Position[3] := 60.0;
Position[4] := 80.0;
Position[5] := 100.0;
Parameters.DirectionIndependent.CompData.AdrPositions := ADR(Position);
".CompData(Pos/Neg).AdrDeviations" is the address of an array of REAL with deviations (Axis position - Load position) in PLCopen units that were measured as certain load positions (".CompData(Pos/Neg).AdrPositions").
Example:
Deviation[0] := 0.002;
Deviation[1] := -0.001;
Deviation[2] := 0.001;
Deviation[3] := 0.003;
Deviation[4] := 0.004;
Deviation[5] := 0.002;
Parameters.DirectionIndependent.CompData.AdrDeviations := ADR(Deviation);
".CompData(Pos/Neg).NumberOfPoints" is the number of specified compensation data points.
Example:
Parameters.DirectionIndependent.CompData.NumberOfPoints := 6;
Modes mcDIR_DEPENDENT_AX_POS, mcDIR_DEPENDENT_SET_POS_AX_POS, mcDIR_DEPENDENT_BACKLASH_AX_POS, mcDIR_INDEPENDENT_AX_POS, mcDIR_INDEPENDENT_SPEED_AX_POS
"Parameters.Periodic" = mcNON_PERIODIC (default)
".CompData(Pos/Neg).AdrPositions" is the address of an array of REAL with axis positions in PLCopen units at which the deviations (".CompData(Pos/Neg).AdrDeviations") were measured. Deviation = Load position - Axis position.
Example:
Position[0] := -20.0;
Position[1] := -10.0;
Position[2] := 0.0;
Position[3] := 10.0;
Position[4] := 20.0;
Position[5] := 30.0;
Position[6] := 40.0;
Position[7] := 50.0;
Parameters.DirectionIndependent.CompData.AdrPositions := ADR(Position);
".CompData(Pos/Neg).AdrDeviations" is the address of an array of REAL with deviations (Load position - Axis position) in PLCopen units that were measured at certain axis positions (".CompData(Pos/Neg).AdrPositions").
Example:
Deviation[0] := 0.002;
Deviation[1] := -0.001;
Deviation[2] := 0.001;
Deviation[3] := 0.003;
Deviation[4] := 0.002;
Deviation[5] := 0.004;
Deviation[6] := 0.006;
Deviation[7] := 0.005;
Parameters.DirectionIndependent.CompData.AdrDeviations := ADR(Deviation);
".CompData(Pos/Neg).NumberOfPoints" is the number of specified compensation data points.
Example:
Parameters.DirectionIndependent.CompData.NumberOfPoints := 8;
"Parameters.Periodic" = mcPERIODIC
".CompData(Pos/Neg).AdrPositions" is the address of an array of REAL with axis positions in PLCopen units at which the deviations (".CompData(Pos/Neg).AdrDeviations") were measured. The positions are specified over one axis period. Deviation = Load position - Axis position.
Example (period = 100.0):
Position[0] := 0.0;
Position[1] := 20.0;
Position[2] := 40.0;
Position[3] := 60.0;
Position[4] := 80.0;
Position[5] := 100.0;
Parameters.DirectionIndependent.CompData.AdrPositions := ADR(Position);
".CompData(Pos/Neg).AdrDeviations" is the address of an array of REAL with deviations (Load position - Axis position) in PLCopen units that were measured at certain axis positions (".CompData(Pos/Neg).AdrPositions").
Example:
Deviation[0] := 0.002;
Deviation[1] := -0.001;
Deviation[2] := 0.001;
Deviation[3] := 0.003;
Deviation[4] := 0.004;
Deviation[5] := 0.002;
Parameters.DirectionIndependent.CompData.AdrDeviations := ADR(Deviation);
".CompData(Pos/Neg).NumberOfPoints" is the number of specified compensation data points.
Example:
Parameters.DirectionIndependent.CompData.NumberOfPoints := 6;
All modes
"Parameters.Periodic" = mcNON_PERIODIC (default)
".CompData(Pos/Neg).AdrPositions" is the address of an array of REAL with encoder positions in PLCopen units at which the deviations (".CompData(Pos/Neg).AdrDeviations") were measured. Deviation = Load position - Encoder position.
Example:
Position[0] := -20.0;
Position[1] := -10.0;
Position[2] := 0.0;
Position[3] := 10.0;
Position[4] := 20.0;
Position[5] := 30.0;
Position[6] := 40.0;
Position[7] := 50.0;
Parameters.DirectionIndependent.CompData.AdrPositions := ADR(Position);
".CompData(Pos/Neg).AdrDeviations" is the address of an array of REAL with deviations (Load position - Encoder position) in PLCopen units that were measured at certain encoder positions (".CompData(Pos/Neg).AdrPositions").
Example:
Deviation[0] := 0.002;
Deviation[1] := -0.001;
Deviation[2] := 0.001;
Deviation[3] := 0.003;
Deviation[4] := 0.002;
Deviation[5] := 0.004;
Deviation[6] := 0.006;
Deviation[7] := 0.005;
Parameters.DirectionIndependent.CompData.AdrDeviations := ADR(Deviation);
".CompData(Pos/Neg).NumberOfPoints" is the number of specified compensation data points.
Example:
Parameters.DirectionIndependent.CompData.NumberOfPoints := 8;
"Parameters.Periodic" = mcPERIODIC
".CompData(Pos/Neg).AdrPositions" is the address of an array of REAL with encoder positions in PLCopen units at which the deviations (".CompData(Pos/Neg).AdrDeviations") were measured. The positions are specified over one axis period. Deviation = Load position - Encoder position.
Example (period = 100.0):
Position[0] := 0.0;
Position[1] := 20.0;
Position[2] := 40.0;
Position[3] := 60.0;
Position[4] := 80.0;
Position[5] := 100.0;
Parameters.DirectionIndependent.CompData.AdrPositions := ADR(Position);
".CompData(Pos/Neg).AdrDeviations" is the address of an array of REAL with deviations (Load position - Encoder position) in PLCopen units that were measured at certain encoder positions (".CompData(Pos/Neg).AdrPositions").
Example:
Deviation[0] := 0.002;
Deviation[1] := -0.001;
Deviation[2] := 0.001;
Deviation[3] := 0.003;
Deviation[4] := 0.004;
Deviation[5] := 0.002;
Parameters.DirectionIndependent.CompData.AdrDeviations := ADR(Deviation);
".CompData(Pos/Neg).NumberOfPoints" is the number of specified compensation data points.
Example:
Parameters.DirectionIndependent.CompData.NumberOfPoints := 6;