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