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 |
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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 |
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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 |
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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 |
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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 |
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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`.
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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 | |