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Compensation Tables


bstobie
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Hi folks,

I want to create a 1D compensation table that has a source motor with a bipolar range.

 

Page 186 of the Turbo PMAC User Manual says -

"If the motor has a travel range to the negative side of zero, and compensation is desired here, these entries

should be made as if they were past the positive end of the motor range. For instance, if the motor travel

were +/- 50,000 counts and a table entry was to be made every 500 counts (so 200 entries total), the table

would be set up with a DEFINE COMP 200,100000 command. The first 100 entries would cover the

500 to +50,000 count range, and the last 100 entries would cover the -50,000 to 0 count range. (Usually

the table is referenced so there is a zero correction at the source motor zero position, so the last entry in

the table should be 0.) Essentially, the -50,000 to 0 range would be mapped into the +50,000 to +100,000

range."

 

So if I had (say) a span of -100 to +100 = 200, and 10 table entries, I would use the command (source = #1, target = #2)

 

DEFINE COMP 10, #1, #2, 200

1 Correction at 20 cts

2 Correction at 40 cts

3 Correction at 60 cts

4 Correction at 80 cts

5 Correction at 100 cts

6 Correction at -100 cts

7 Correction at -75 cts?

8 Correction at -50 cts?

9 Correction at -25 cts?

10 Correction at 0 cts?

 

This seems to comply with the above description, but the +ve half of the table has entries 20 counts apart, and the -ve half of the table has entries 25 counts apart?

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A 10 entry table over 200 cts will be the following:

DEFINE COMP 10, #1, #2, 200

1 Correction at 20 cts

2 Correction at 40 cts

3 Correction at 60 cts

4 Correction at 80 cts

5 Correction at 100 cts

6 Correction at -80 cts

7 Correction at -60 cts

8 Correction at -40 cts

9 Correction at -20 cts

10 Correction at 0 cts

 

For the full range you want to use:

DEFINE COMP 11, #1, #2, 220

1 Correction at 20 cts

2 Correction at 40 cts

3 Correction at 60 cts

4 Correction at 80 cts

5 Correction at 100 cts

6 Correction at -100 cts

7 Correction at -80 cts

8 Correction at -60 cts

9 Correction at -40 cts

10 Correction at -20 cts

11 Correction at 0 cts

 

You may even want to make it somewhat bigger than your actual range and pad the center of the table with dummy entries in case of overtravel:

DEFINE COMP 12, #1, #2, 240

1 Correction at 20 cts

2 Correction at 40 cts

3 Correction at 60 cts

4 Correction at 80 cts

5 Correction at 100 cts

6 Dummy correction after +/-100 cts

7 Correction at -100 cts

8 Correction at -80 cts

9 Correction at -60 cts

10 Correction at -40 cts

11 Correction at -20 cts

12 Correction at 0 cts

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