Siemens SINUMERIK 840C - Manual (Page 982)

09.95 12 Functional Descriptions
12.19.5 Interpolation and compensation with tables
The input quantity compensation is controlled via bit 3 of the IKA configuration.
This type of compensation is only possible in SW 3! If the compensation value is too large,
the compensated axis tends to oscillate.
Extended IKA function Data type: 40 Format: 1 Bit
Bit 4=0: IKA (limited range of functions!)
Bit 4=1: IKA Stage 2 active
Note:
The bit is automatically set if the function is programmed via G401 or G411.
Position-related activation direction-dependent
Data type: 41 Format: 1 Bit
Bit 5=0: The IKA configuration is activated or deactivated direction
independently with position-related activation
Bit 5=1: The IKA configuration is activated or deactivated direction dependently
with position-related activation
Position-related activation overtravel direction negative
Data type: 42 Format: 1 Bit
Bit 6=0: The IKA configuration is activated in the positive travel direction
Bit 6=1: The IKA configuration is activated in the negative travel direction
Note:
If you specify the start position and the required overtravel direction of the G412
instruction, bits 5 + 6 are automatically set. The control also only calculates the
associated start position as a function of the current actual interpolation value of the input
quantity.
Interpolation cubic Data type: 43 Format: 1 Bit
Bit 7=0: Linear interpolation between the interpolation values
Bit 7=1: Cubic interpolation between the interpolation values
A newly available method of IKA is the cubic interpolation between the interpolation points,
i.e. a constant tangential function is applied at the transition (interpolation) points.
The cubic interpolation method therefore affords a reduction in data.
Linear interpolation (IKA and IKA Stage 2)
Cubic interpolation (IKA Stage 2)
P1
P2
P3
P4
P5
P6
B (Input quantity values)
B
K (Output quantity values)
Compensation point
K'
© Siemens AG 1992 All Rights Reserved 6FC5197- AA50 12–207
SINUMERIK 840C (IA)