Parameterisation

Parameterise compensation values

The table for friction compensation must be programmed with ascending velocity and the velocity must be ≥ 0. This is checked when the list is downloaded list and, if applicable, the error message P-ERR-110591 is output.

As of CNC Build V3.1.3079.06, use P-COMP-00062 to define a maximum number of table entries in the compensation value list. The entries actually used are defined in P-COMP-00042.

Friction compensation parameters are defined in the compensation value list:

Maximum number of table entries P-COMP-00062 as of Build V3.1.3079.06
Friction compensation mode P-COMP-00041
Number of table elements P-COMP-00042
Current build-up after direction reversal P-COMP-00043
Current decay before direction reversal P-COMP-00044
Scaling factor for compensation values P-COMP-00045
Table entries for velocity P-COMP-00046
Table entries for current P-COMP-00047

	Friction compensation is only active when the mode (P-COMP-00041) is assigned a value unequal to 0 and P-AXIS-00522 is set. Only value 3 is permitted for P-COMP-00041

Programming Example

Parameterise friction compensation

frict_comp.mode 3

frict_comp.table_entries 3

frict_comp.position_delay 30

frict_comp.reversal_lookahead 4

frict_comp.scaling_factor 10

frict_comp.delay_cycles 9

frict_comp.table[0].in 0

frict_comp.table[0].out 0

frict_comp.table[1].in 316

frict_comp.table[1].out 3722

frict_comp.table[2].in 333

frict_comp.table[2].out 3884

Parameter verification

A consistency check takes place when compensation parameters are adopted. If the parameters are not coherent, a related error message is output.

P-ERR-110591 Negative or non-ascending input values

P-ERR-110592 Unknown mode or no values specified