Overview of compensation parameters

The overview of compensation parameters is sorted into a 4-column table.

ID

Structure

Parameter

Functionality/ Short description

P-COMP-00001

kopf.

achs_nr

Logical axis number

P-COMP-00002

kopf.

log_achs_name

Axis name

P-COMP-00004

kw.crosscomp.

last_index

Last index of compensation value table
(cross compensation)

P-COMP-00005

kw.crosscomp.

slave_ax_nr

Logical axis number of the master axis
(cross compensation)

P-COMP-00006

kw.crosscomp.table[i].

setpoint

Interpolation point of the master axis
(cross compensation)

P-COMP-00007

kw.crosscomp.table[i].

correction

Compensation values for the slave axis
(cross compensation)

P-COMP-00009

kw.crosscomp2.

interval

Distance between interpolation points
(plane compensation)

P-COMP-00010

kw.crosscomp2.

last_index_master1

Last index of master axis 1 (plane compensation)

P-COMP-00011

kw.crosscomp2.

last_index_master2

Last index of master axis 2 (plane compensation)

P-COMP-00012

kw.crosscomp2.

start_position_master1

Start position of master axis 1 (plane compensation)

P-COMP-00013

kw.crosscomp2.

start_position_master2

Start position of master axis 2 (plane compensation)

P-COMP-00014

kw.crosscomp2.

master1_ax_nr

Logical axis number of the master axis 1
(plane compensation)

P-COMP-00015

kw.crosscomp2.

master2_ax_nr

Logical axis number of the master axis 2
(plane compensation)

P-COMP-00016

kw.crosscomp2.table[i][j].

correction

Compensation values for the slave axis
(plane compensation)

P-COMP-00017

kw.ssfk.

unit

Unit of the length/position entries
(leadscrew error compens.)

P-COMP-00018

kw.ssfk.

interval

Distance between interpolation points
(leadscrew error compens.)

P-COMP-00019

kw.ssfk.

kw_startpos

Start position of compensation values
(leadscrew error compens.)

P-COMP-00020

kw.ssfk.

kw_nr_max

Number of compensation values
(leadscrew error compens.)

P-COMP-00021

kw.ssfk.

bilateral

Operation mode of compensation
(leadscrew error compens.)

P-COMP-00022

kw.ssfk.

modulo

Compensation of a modulo axis
(leadscrew error compens.)

P-COMP-00023

kw.ssfk.table[i].

pos

Compensation value in positive direction
(leadscrew error compens.)

P-COMP-00024

kw.ssfk.table[i].

neg

Compensation value in negative direction
(leadscrew error compens.)

P-COMP-00025

kw.ssfk.table[i].

setpoint

Interpolation points of the axis
(leadscrew error compens.)

P-COMP-00026

kw.crosscomp.

n_cycles

Number of cycles for ‘smooth switching’
(cross compensation)

P-COMP-00027

kw.crosscomp2.

n_cycles

Number of cycles for ‘smooth switching’
(cross compensation)

P-COMP-00028

kw.ssfk.

manual_activation

Manual activation
(leadscrew error compens.)

P-COMP-00029

kw.crosscomp.

manual_activation

Manual activation
(cross compensation)

P-COMP-00030

kw.crosscomp2.

manual_activation

Manual activation
(plane compensation)

P-COMP-00031

kw.crosscomp2.

grid

Type of interpolation point grid
(plane compensation)

P-COMP-00032

kw.crosscomp2.

interval1

Distance between the interpolation points of the first master axis
(plane compensation)

P-COMP-00033

kw.crosscomp2.

interval2

Distance between the interpolation points on the second master axis
(plane compensation)

P-COMP-00041

frict_comp.

mode

Friction compensation mode

P-COMP-00042

frict_comp.

table_entries

Number of elements in the compensation value table
(friction compensation)

P-COMP-00043

frict_comp.

position_delay

Delay value for current build-up
(friction compensation)

P-COMP-00044

frict_comp.

reversal_lookahead

Reversal look ahead
(friction compensation)

P-COMP-00045

frict_comp.

scaling_factor

Scaling factor for the compensation values
friction compensation)

P-COMP-00046

frict_comp.table[i].

in

Velocity input variable
(friction compensation)

P-COMP-00047

frict_comp.table[i].

out

Measured friction (motor current) – output variable
(friction compensation)

P-COMP-00057

kw.ssfk.

set_pos_without_comp

Consideration of other axis compensations

P-COMP-00058

frict_comp.

delay_cycles

Delay time for the compensation values
(friction compensation)

P-COMP-00059

kw.ssfk.

max_points

Max. table entries (leadscrew error compens.)

P-COMP-00060

kw.crosscomp.

max_points

Max. table entries (cross compensation)

P-COMP-00061

kw.crosscomp2.

max_points

Max. table entries (plane compensation)

P-COMP-00062

frict_comp.

max_points

Max. table entries (friction compensation)

P-COMP-00063

kw.crosstalk.

master_ax_nr

Log. Axis number of the master axis

P-COMP-00064

kw.crosstalk.

n_cycles

Number of cycles for ‘smooth switching’

P-COMP-00065

kw.crosstalk.

last_index

Last index of compensation value table

P-COMP-00066

kw.crosstalk.table[i].

acceleration

Accelerations of the master axis

P-COMP-00067

kw.crosstalk.table[i].

correction

Compensation values for the slave axis

P-COMP-00073

kw.crosstalk.master_ax_nr

manual_activation

Manual activation of crosstalk compensation