Overview

Activation

Crosstalk compensation is activated in the axis machine data record of the slave axis by P-AXIS-00789 (lr_param.crosstalk)

Programing Example

Excerpt from the axis parameter list:

lr_param.crosstalk 1

Notice

Crosstalk compensation can also be used for a gantry axis group. A compensation value table must then be specified for each axis in the gantry combination (crosstalk compensation slave).

Compensation value tables can therefore have different settings for each gantry axis.

Activating/deactivating

Crosstalk compensation (ON if compensation is activated) can be switched on or off at any time when the slave axis is at standstill. The slave axis command positions displayed are offset with the offset values.

Filter:

These compensation values can be smoothed by using a sine-square filter. The parameter P-COMP-00064 selects the filter order and its activation.(n_cycles).

Management data of the crosstalk compensation table

General data of the list body is entered in the structure kw.crosstalk.* It contains the following elements.

Management data elements

Variable name	Type	Meaning
last_index	SGN32	Last valid index in the slave axis table.
master_ax_nr	UNS16	Logical axis number of the master axis whose acceleration is used as the input variable of the compensation table.
n_cycles	UNS16	Number of cycles of the sine-square filter.
manual_activation	BOOLEAN	0: (Default) The CNC activates crosstalk compensation automatically as soon as the required preconditions are met.

Compensation values of crosstalk compensation

The corresponding compensation value of the slave axis is entered in the table kw.crosstalk.table[i].* for every acceleration The compensation table is valid for positive and negative directions of acceleration

Compensation value table

Variable name	Type	Meaning
table[i].acceleration	SGN32	Acceleration of the master axis for which the slave axis must be compensated.
table[j][i].correction	SGN32	Compensation value for the slave axis with acceleration i