Velocity Input Variable (P-Comp-00046); Measured Friction (Motor Current) - Output Variable (P-Comp-00047); Delay Time For The Compensation Values (P-Comp-00058); Crosstalk Compensation (Kw.crosstalk.*) - Beckhoff TF5200 Manual

General compensation value data (kw.*)
Default value 1000
Remarks
3.4.7

Velocity input variable (P-COMP-00046)

P-COMP-00046 Velocity input variable
Description This parameter defines the velocities for which the additional motor currents
specified in P-COMP-00047 [} 32] are to be output to the additive current interface.
The values must be entered in ascending order.
Parameter
frict_comp.table[i].in where i= P-COMP-00042 [} 31]
Data type SGN32
Data range 0 < table[i].in < MAX(SGN32)
Axis types T, R, S
Dimension T: Increments/cycle
Default value 0
Remarks
3.4.8 Measured friction (motor current) – output variable (P-
COMP-00047)
P-COMP-00047 Measured friction (motor current) – output variable
Description This parameter defines the current which is to be additionally output at the additive
current interface.
Parameter
frict_comp.table[i].out where i= P-COMP-00042 [} 31]
Data type SGN32
Data range MIN(SGN32) < table[i].out < MAX(SGN32)
Axis types T, R, S
Dimension T: *
Default value 0
Remarks * The dimension of the motor current depends on the internal data of the related
drive. In CANopen and SERCOS, this value corresponds to the contents of the CNC
object dig_drv.act_torque.
3.4.9

Delay time for the compensation values (P-COMP-00058)

P-COMP-00058 Delay time for compensation values
Description This parameter defines the delay time of all compensation values.
Parameter frict_comp.delay_cycles
Data type SGN16
Data range 0 ≤ delay_cycles < 249
Axis types T, R, S
Dimension T: Cycles
Default value 0
Remarks
3.5

Crosstalk compensation (kw.crosstalk.*)

The crosstalk compensation function is activated by P-AXIS-00789.
32
R,S: Increments/cycle
R,S: *
R,S: Cycles
Version: 1.22 TF5200 | TwinCAT 3 CNC
Axis compensation