Number Of Elements In The Compensation Value Table (P-Comp-00042); Delay Value For Current Build-Up (P-Comp-00043); Reversal Look Ahead (P-Comp-00044); Scaling Factor For The Compensation Values (P-Comp-00045) - Beckhoff TF5200 Manual

3.4.3 Number of elements in the compensation value table (P-
COMP-00042)
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 [} 30]
Axis types T, R, S
Dimension T: ----
Default value 0
Remarks
P-COMP-00062 [} 30] is available as of Build V3.1.3079.06. The default upper limit
is 20.
3.4.4

Delay value for current build-up (P-COMP-00043)

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
Default value 0
Remarks
3.4.5

Reversal look ahead (P-COMP-00044)

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
Default value 0
Remarks
3.4.6

Scaling factor for the compensation values (P-COMP-00045)

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%
TF5200 | TwinCAT 3 CNC
Axis compensation
General compensation value data (kw.*)
R,S: ----
R,S: 0.0001°
R,S: Cycles
R,S: 0.1%
Version: 1.22 31