Overview of parameters
Activation
Friction compensation is activated in the axis machine data record by P-AXIS-00522:
Variable name | Type | Meaning |
lr_param.frict_comp | BOOLEAN | 0: no friction compensation |
Programming Example
Values for friction compensation are entered in the axis-specific compensation value list in the structure frict_comp.* and contains the following elements:
ID | Parameter | Description |
Index of the incorrect interpolation point | Friction compensation mode | |
frict_comp.table_entries | Number of elements in the compensation value table. Maximum of 20 | |
frict_comp.position_delay | Distance over which the motor current is built up during start-up. | |
frict_comp.reversal_lookahead | Number of cycles during which the motor current is dissipated before a motion reversal. | |
frict_comp.scaling_factor | Scaling factor for the entries in the compensation list | |
frict_comp.table[i].in | velocity | |
frict_comp.table[i].out | Measured friction (motor current) | |
frict_comp.delay_cycles | Delay in compensation values after reversal point in cycles | |
frict_comp.max_points | Max. number of possible table entries |