# Compensation values

ID | Parameter | Description
P-COMP-00041 | Index of the incorrect interpolation point | Friction compensation mode
P-COMP-00042 | frict_comp.table_entries | Number of elements in the compensation value table. Maximum of 20
P-COMP-00043 | frict_comp.position_delay | Distance over which the motor current is built up during start-up.
P-COMP-00044 | frict_comp.reversal_lookahead | Number of cycles during which the motor current is dissipated before a motion reversal.
P-COMP-00045 | frict_comp.scaling_factor | Scaling factor for the entries in the compensation list
P-COMP-00046 | frict_comp.table[i].in | Velocity
P-COMP-00047 | frict_comp.table[i].out | Measured friction (motor current)
P-COMP-00058 | frict_comp.delay_cycles | Delay in compensation values after reversal point in cycles
P-COMP-00062 | frict_comp.max_points | Max. number of possible table entries