Parameterisation

Parameterise compensation values

The table for friction compensation must be programmed with ascending velocity and the velocity must be ≥ 0. This is checked when the list is downloaded list and, if applicable, the error message P-ERR-110591 is output.

As of CNC Build V3.1.3079.06, use P-COMP-00062 to define a maximum number of table entries in the compensation value list. The entries actually used are defined in P-COMP-00042.

Friction compensation parameters are defined in the compensation value list:

• Maximum number of table entries P-COMP-00062 as of Build V3.1.3079.06
• Friction compensation mode P-COMP-00041
• Number of table elements P-COMP-00042
• Current build-up after direction reversal P-COMP-00043
• Current decay before direction reversal P-COMP-00044
• Scaling factor for compensation values P-COMP-00045
• Table entries for velocity P-COMP-00046
• Table entries for current P-COMP-00047

Notice

Friction compensation is only active when the mode (P-COMP-00041) is assigned a value unequal to 0 and P-AXIS-00522 is set.

Only value 3 is permitted for P-COMP-00041

Programing Example

Parameterise friction compensation

frict_comp.mode                                 3

frict_comp.table_entries                        3

frict_comp.position_delay                       30

frict_comp.reversal_lookahead                   4

frict_comp.scaling_factor                       10

frict_comp.delay_cycles                         9

frict_comp.table[0].in                          0

frict_comp.table[0].out                         0

frict_comp.table[1].in                          316

frict_comp.table[1].out                         3722

frict_comp.table[2].in                          333

frict_comp.table[2].out                         3884

Parameter verification

A consistency check takes place when compensation parameters are adopted. If the parameters are not coherent, a related error message is output.

P-ERR-110591         Negative or non-ascending input values

P-ERR-110592         Unknown mode or no values specified