AN-335 Gantry Error Compensation

This document explains how to correct the position error between the two motors commanding the Gantry axis (longitudinal axis) of advanced Gantry systems

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• AN-357 Gantry error compensation

  This document explains how to correct the position error between the two motors commanding the Gantry axis (longitudinal axis) of advanced Gantry systems, when using Ethercat Position Mode (CSP).

• Error Compensation in CSP Mode

  COMPENSATE_XY in the axis with the following table puts +/- 10 compensation on the axis as it moves. The table has these values: TABLE(0, 0, -10, 10, -10, 10, -10, 10) The COMPENSATE_XY takes the length that is put in the command and divides it into ...

• Error mapping to compensate for mechanical errors

  COMPENSATE_XY is probably the command you want. From the TrioBASIC Help: In some applications both of the X-Y axes of a machine bed require compensation for ballscrew errors depending on the X-Y position: Axis 0 - Motor Axis - COMPENSATE_XY command A ...

• 3D Visualisation Example with Motion Perfect Gantry Sample Machine

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• Following error when using CSP in M753 Control Techniques drives

  Target Position is in DAC_OUT in CSP mode Encoder position is in ENCODER in CSP mode. Both can be monitored on the scope. FE is DPOS - MPOS so has a larger value than the real following error due to the EtherCAT cycle time. Set FE_LIMIT to suit the ...