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Absolute Scales with Comp Table?


JeffLowe
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We are using an absolute position BissC scale that reports a 32 bit absolute position at power on. This machine will also use compensation tables to remove any intrinsic scale errors and mounting issues. Does the motor position as initialized by the power on read include the compensation correction? That is, if I am at some raw scale position that would have a corresponding correction, is the motor initialized to the corrected value?

 

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you can determine when you would the compensation to be applied by setting Sys.CompEnable = n, whcih will enable comptable 0 to (n-1)

If Sys.CompEnable is not set, then motor position will only be raw encoder reading.

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The correction of the compensation table is always a function of the source motor's "raw" position, how ever that position is referenced, whether to the immediate power-up position reference of 0, the subsequent trigger position of a homing-search move, or the subsequent sensor read of an absolute position.

 

If the reference is changed, as in the last two of those cases, the raw position is changed, and the correction will be changed as well.

 

You can monitor raw position Motor[x].Pos, table correction Motor[x].CompPos, and corrected position Motor[x].ActPos.

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