Beckhoff TF5200 Manual page 6

Table of contents
3.3.6 Operation mode of compensation (P-COMP-00021) ....................................................... 26
3.3.7 Compensation of a modulo axis (P-COMP-00022).......................................................... 26
3.3.8 Manual activation (P-COMP-00028) ................................................................................ 26
3.3.9 Consideration of other axis compensations (P-COMP-00057) ........................................ 27
3.3.10 Table of compensation values (kw.ssfk.table[i].*) ............................................................ 28
3.3.11 Example of a compensation value list.............................................................................. 29
3.4 Friction compensation (frict_comp.*)............................................................................................... 30
3.4.1 Maximum number of table entries for friction compensation (P-COMP-00062)............... 30
3.4.2 Friction interpolation mode (P-COMP-00041).................................................................. 30
3.4.3 Number of elements in the compensation value table (P-COMP-00042) ........................ 31
3.4.4 Delay value for current build-up (P-COMP-00043) .......................................................... 31
3.4.5 Reversal look ahead (P-COMP-00044) ........................................................................... 31
3.4.6 Scaling factor for the compensation values (P-COMP-00045) ........................................ 31
3.4.7 Velocity input variable (P-COMP-00046) ......................................................................... 32
3.4.8 Measured friction (motor current) - output variable (P-COMP-00047) ............................ 32
3.4.9 Delay time for the compensation values (P-COMP-00058) ............................................. 32
3.5 Crosstalk compensation (kw.crosstalk.*) ........................................................................................ 32
3.5.1 Logical axis number of the master axis (P-COMP-00063)............................................... 33
3.5.2 Number of cycles for 'smooth switching' (P-COMP-00064) ............................................. 33
3.5.3 Last index of compensation value table (P-COMP-00065) .............................................. 33
3.5.4 Accelerations of the master axis (P-COMP-00066) ......................................................... 33
3.5.5 Correction values for the slave axis (P-COMP-00067) .................................................... 34
3.5.6 Manual activation of crosstalk compensation (P-COMP-00073)...................................... 34
4 Support and Service ............................................................................................................................... 35
Index ......................................................................................................................................................... 36
6 Version: 1.22 TF5200 | TwinCAT 3 CNC
Axis compensation