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General compensation value data (kw.*)
3.4
Friction compensation (frict_comp.*)
The purpose of friction compensation is to compensate actually existing friction torque by way of an
additional torque. Therefore, it works like speed-dependent feed forward control of motor current.
Friction compensation reduces following error and backlash. For more information see [FCT-C25].
Friction compensation parameters are defined in the compensation value list and is currently available for
drive types CANopen and SERCOS. It includes the following elements.
3.4.1
Maximum number of table entries for friction compensation
(P-COMP-00062)
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 [} 31]) 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: ----
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
3.4.2
Friction interpolation mode (P-COMP-00041)
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
Index of the incorrect interpolation point
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: ----
Default value
0
Remarks
To activate friction compensation, the mode must and P-AXIS-00522 must be set.
30
R,S: ----
R,S: ----
Version: 1.22
TF5200 | TwinCAT 3 CNC
Axis compensation
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