# 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: [µm/s] | 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