# Overview

## Task

Friction effects in the drive train may cause marks or dimensional variations on the workpiece surface at points in the machining process where a change in axis direction occurs (reversing). The purpose of friction compensation is to minimise these effects and enhance machining results.

## Characteristics

Friction compensation reduces position lag and improves surface quality. At the same time, it relieves pressure on the speed controller and when activated, it permits the greater use of dynamic parameters and this reduces machining time.

## Notice

Friction compensation can be activated for SERCOS and CANopen drives. This requires the installation of an additive torque interface (additive current) which requires configuration.

## Parameterisation

The data required for friction compensation is parameterised in the compensation value list [COMP].

Friction compensation is configured by setting the parameter P-AXIS-00522 in the axis parameter list and is active after controller start-up.

## Programming

Friction compensation can also be activated/deactivated by the axis-specific NC command <Axis>[COMP ...] In the NC program.