Siemens SINUMERIK 840C Installation Instructions Manual page 982

09.95
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
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
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
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
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.
K (Output quantity values)
P2
K'
P3
P1
© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)
12.19.5 Interpolation and compensation with tables
Data type: 40 Format: 1 Bit
Data type: 41 Format: 1 Bit
Data type: 42 Format: 1 Bit
Data type: 43 Format: 1 Bit
P4
P6
P5
Compensation point
B
6FC5197- AA50
12 Functional Descriptions
Linear interpolation (IKA and IKA Stage 2)
Cubic interpolation (IKA Stage 2)
B (Input quantity values)
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