Compensation values

P-COMP-00041

Friction compensation mode

Description

The parameter defines the operation mode for friction compensation.

If the parameter is assigned the value 0, friction compensation is deactivated.

Parameter

frict_comp.mode

Data type

UNS16

Data range

0: Deactivate friction compensation

3: Compensation with additive current taking into account the commanded speed

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Remarks

To activate friction compensation, the mode must and P-AXIS-00522 must be set.

P-COMP-00042

Number of elements in the compensation value table

Description

This parameter defines the number of entries in the compensation table.

Parameter

frict_comp.table_entries

Data type

UNS16

Data range

0 ≤ table_entries ≤ P-COMP-00062

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Remarks

P-COMP-00062 is available as of Build V3.1.3079.06. The default upper limit is 20.

P-COMP-00043

Delay value for current build-up

Description

This parameter defines the delay value for current built-up at start-up. Its purpose is to prevent abrupt changes. Current build-up is linear.

Parameter

frict_comp.position_delay

Data type

SGN32

Data range

0 ≤ position_delay ≤ 10

Axis types

T, R, S

Dimension

T: 0.1µm

R,S: 0.0001°

Default value

0

Remarks

 

P-COMP-00044

Reversal look ahead

Description

This parameter defines the number of cycles over which the motor current decays before motion reversal.

Parameter

frict_comp.reversal_lookahead

Data type

UNS16

Data range

0 ≤ reversal_lookahead ≤ 4

Axis types

T, R, S

Dimension

T: Cycles

R,S: Cycles

Default value

0

Remarks

 

P-COMP-00045

Scaling factor for compensation values

Description

This parameter defines the scaling of all compensation values in the list.

Parameter

frict_comp.scaling_factor

Data type

SGN16

Data range

MIN(SGN16) < scaling_factor < MAX(SGN16)

Axis types

T, R, S

Dimension

T: 0.1%

R,S: 0.1%

Default value

1000

Remarks

 

P-COMP-00046

Velocity input variable

Description

This parameter defines the velocities for which the additional motor currents specified in P-COMP-00047 are to be output to the additive current interface. The values must be entered in ascending order.

Parameter

frict_comp.table[i].in where i= P-COMP-00042

Data type

SGN32

Data range

0 < table[i].in < MAX(SGN32)

Axis types

T, R, S

Dimension

T:

R,S: [0.001°/s]

Default value

0

Remarks

 

P-COMP-00047

Measured friction (motor current) – output variable

Description

This parameter defines the current which is to be additionally output at the additive current interface.

Parameter

frict_comp.table[i].out where i= P-COMP-00042

Data type

SGN32

Data range

MIN(SGN32) < table[i].out < MAX(SGN32)

Axis types

T, R, S

Dimension

T: *

R,S: *

Default value

0

Remarks

* The dimension of the motor current depends on the internal data of the related drive. In CANopen and SERCOS, this value corresponds to the contents of the CNC object dig_drv.act_torque.

P-COMP-00058

Delay time for compensation values

Description

This parameter defines the delay time of all compensation values.

Parameter

frict_comp.delay_cycles

Data type

SGN16

Data range

0 ≤ delay_cycles < 249

Axis types

T, R, S

Dimension

T: Cycles

R,S: Cycles

Default value

0

Remarks

 

P-COMP-00062

Maximum number of table entries for friction compensation

Description

This friction compensation parameter (FCT-C25) saves the memory space required for a particular number of table entries.

 

The size of the actually used compensation table is defined by `table_entries` (P-COMP-00042) and `table_entries` must be smaller than `max_points`.

 

Parameter

frict_comp.max_points

Data type

UNS32

Data range

0 <= P-COMP-00062

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

20

Remarks

The parameter value can no longer be changed after start-up or after lists are reloaded. Otherwise error ID 110641 is output.

 

If P-COMP-00062 is not specified (or assigned the value 0), the default value is assigned to P-COMP-00062 for downward compatibility reasons. 

To avoid the default assignment, memory can be saved for an axis that does not use friction compensation by assigning the value 1 to P-COMP-00062.

This parameter is available as of CNC Build V3.3079.06