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Appendix 8 Stored Pitch Error Compensation Function
347
Appendi
x
set -3 as the compensation amount in the range -40000
～
-50000;
set +7 as the compensation amount in the range -30000
～
-40000;
set 0 as the compensation amount in the range -20000 ～ 30000;
set -2 as the compensation amount in the range -10000
～
20000
When the X axis moves from -40000 to the reference point, the total pitch error compensation amount
is
（ +3 ） + （ -7 ） + （ 0 ） + （ 2 ） = （ -2 ）
(3) Pitch error compensation of rotary axis
When the pitch error compensation is performed for the 4th axis (when it is rotary axis), the
parameters are set as follows:
Parameter
No.
Contents Parameter Setting Value
42 Compensation
origin point
0
166 Compensation
interval
6000
The compensation error origin point is 0; compensation interval is 6000. Divide the circle into 60
equal sections, so the compensation can be made every 6 deg. The compensation value is set at
the following 61 compensation points:
Parameter No. Parameter Setting Value
4000
Compensation amount set between -6°
～
0°
4001
Compensation amount set between 0°
～
6°
4002
Compensation amount set between 6°
～
12°
┆ ┆
4059 Compensation amount set between 348°
～
354°
4060 Compensation amount set between 354° ～ 360°
The value set by parameter No. 4000 and parameter No. 4060 can be the same. The pitch error
compensation of rotary axis is performed at the speed 110000deg/min(31.2r/min) or below.
The sign “+” or ”-” of pitch error compensation value depends on the moving direction, which
means when the compensation value is “+”, the movement amount adds one compensation value;
when the compensation value is ”-”, the movement amount minus one compensation value. That is,
when the mechanical movement amount contains a error (“+” or ”-”) comparing with the movement
command, a compensation value (“+” or ”-”) is set.
When the error is “+” (excessive movement), the compensation value is ”-”.
When the error is “-” (insufficient movement), the compensation value is ”+”.
(Example)