take dynamic table name for inner join in SQL Query

Question

My SQL Query is,

SELECT  EAL_TYPE,
    EAL_ID,
    ROW_NUMBER ()OVER(PARTITION BY EAL_TYPE,EAL_ID ORDER BY EAL_TYPE,EAL_ID,EAL_ACTION_TIME Desc)SL#,
    EAL_STATUS,
    EAL_ACTION_TYPE,
    EAL_CMPCODE,
    ESSET_Description,
    EAL_SHOW_IN_ALERT,
    ESSETRS_WEIGHTAGE,
    Usr_UserRole,ESSET_HeaderTable_Prefix,ESSET_HeaderTable
FROM ESS_ACTION_LOG 
LEFT JOIN ESS_ENTRYTYPE_MASTER ON
       ESSET_ID=EAL_TYPE    
LEFT JOIN User_Profile ON
       Usr_LoginID='MK' 
LEFT JOIN ESS_ENTRYTYPE_ROLE_SETTINGS ON
       ESSETRS_CMPCODE = EAL_CMPCODE AND
       ESSETRS_ID = EAL_TYPE AND
       ESSETRS_ROLE_ID = Usr_UserRole
       INNER JOIN ESSET_HeaderTable ON
        ESSET_HeaderTable_Prefix+'_CMPCode'=EAL_CMPCODE AND
        ESSET_HeaderTable_Prefix+'_Type'=EAL_TYPE AND
        ESSET_HeaderTable_Prefix+'_ID'=EAL_ID
WHERE ESSETRS_WEIGHTAGE IS NOT NULL

In the above query, while executing it shows an error like 'ESSET_HeaderTable object name not found'. But that table name needs to come dynamically from another table. What's wrong with my query. Can anyone help me with this?