Multi Axis Error mapping on the U500

The U500 can perform calibration based on a 2 Dimensional grid of correction points. Each point contains
an absolute correction value in machine steps for 3 axes. The polarity of this correction is alays the same
as the encoder polarity as observed in the diagnostic indo.
Table format
!"U#T$ % beginning of table
& 2 % ro' column input axis numbers
& 2 3 % output ( corrected ) axis numbers
&0000 &0000 % ro' column sample distance for input axes ( machine steps )
0 0 % ro' column offset to table start ( signed' machine steps )
5 % number of points for the ro axis
& & 0 2 2 0 3 3 0 * * 0 5 5 0 % corrections for output axes in groups of three
2 & +& 3 +3 2 3 2 & 2 2 & 0 0 0 % ,an bn cn- ,an.& bn.& cn.&- /
/
!E0D % end of this bloc1 of data
&) 2o' column input axis numbers!
These are the axis numbers that are used to index through the correction table. 3lloed values are
&+*. The first number is the 4ro5 axis' the second is the 4column5 axis.
2) 6utput axis numbers!
These are the axes hich ill have the correction applied to them. 3lloed values are &+*.
7orrection values are generated for the specified axis if axis parameter x82 is set to yes' the ro
and column axes have been homed' and a valid calibration file have been selected in the pro9ect
file.
3) 2o' column sample distance!
This is the sample distance in machine steps for the ro and column axes respectively. These
numbers are not necessarily the same but must be positive. They must also be greater than *0:8.
The first number ( ro sample distance ) is the distance beteen an and an.&. The second number
( column sample distance ) is the distance beteen bn and bn.& .
*) 2o' column offset!
This is the offset from the axis home positions to the start of the correction table in machine steps.
The first number is the ro axis offset' the second is the column axis offset. These numbers are
signed and their magnitude must be less than 2'&*8'*;3'<*8. The polarity of these numbers is the
same as the polarity displayed in the diagnostic indo. These numbers can be used to calibrate a
indo hich can be arbitrarily placed ithin the stages travel.
5) 0umber of points per ro!
This tells the softare ho many ros are in the correction data' and therefore ho many
columns.
<) 7orrection data!
The correction data is organi=ed in groups of three corresponding to the three output axes
specified in 2). $n the example above' an is axis &' bn is axis 2' and cn is axis 3. 7orrection data is
absolute and in the same polarity as the feedbac1 device ( as displayed in the diagnostic indo ).
The correction table must contain an even multiple of 3 points. The total number of points must
also be evenly divisible by the number of points per ro ( x3 ). $f either of these conditions are
violated' the U500 ill respond ith a >7alibration file format error? message. 3ll text folloing
a 4%5 ' to the end of the line' is a comment and is ignored.
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8) Bome direction!
Usually if axis parameter x02 is set to no' the stage travel is in the negative machine direction. ie.
all feedbac1 as displayed in the diagnostic indo is negative. $n this case' the first correction
point in the table ill correspond to the home position. The next point in the table corresponds to
one sample distance from the home position' etc.
;) Bome position in center of travel!
$n this case' the ro or column offsets should be set to a negative number ( assuming that axis
parameter x02 is set to yes ). This ill offset the table ma1ing the home position ithin the table.
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0otes!
&) Table idth is 5 x sample distance but there are < points per ro
2) Table height is * x sample distance but there are 5 points along the column axis
3) Chen the axis is outside the correction table area' the correction added to the axis ill be the last correction added or 0 if the
axis has not entered the table.
*) Errors are linearly interpolated beteen points as follos/
ro axis
column axis
offset to start of
table
(ro axis)
offset to start
of table
( column axis )
home
ro axis correction indo
correction table
,a b c-& ,a b c-2 ,a b c-3 ,a b c-* ,a b c-5 ,a b c-<
,a b c-8 ,a b c-; ,a b c-: ,a b c-&0 ,a b c-&& ,a b c-&2
ro axis
column axis
a*
Interpolation:
a&'a2'a3'a* are ro axis corrections about a sDuare formed be ad9acent points ithin the correction table.
cfrac is the fraction distance that the column axis is in beteen correction points (0E&).
rfrac is the fraction distance that the ro axis is in beteen correction points (0E&).
Row axis:
&) a& to a3 is interpolated based on cfrac to form a left side ro axis correction aleft' a2 to a* is interpolated based on cfrac to form a right
side ro axis correction aright.
2) aleft and aright are interpolated by rfrac to get the desired correction for the ro axis.
Column / third axis :
&) 6pposite of 2o axis.
a& a2
a3
rfrac
cfrac
aright aleft
,a b c-n
first 3 numbers in
table