Time Compensation

A requirement for high-precision conversion of positions into times and vice versa is precise dead time compensation of the axes. For data acquisition, this can be enabled and configured via the Time Compensation tab of the axis encoder (e.g. Axis 1 > Enc).

Time Compensation 1:

Parameter

Description

Type

Unit

Time Compensation Mode Encoder

Enabling/disabling the dead time compensation of the axis encoder incl. selection of the mode:

  • OFF
  • ON (with velocity) (recommended)
  • ON (with velocity and acceleration)

enum

 

IO Time is absolute

Default FALSE

Must be set to TRUE if the encoder supplies an absolute timestamp (special case).

bool

 

Encoder Delay in Cycles

Additional delays by entire I/O cycles. This time is not a fixed value, but changes with the cycle time.

double

 

Additional Encoder Delay

Fixed time value in μs caused by the hardware used.

double

µs

Further details on dead time compensation can be found in the documentation TF5065 TwinCAT 3 | PLC Motion Control XFC/XFC NC I.