Overview of compensation parameters
The overview of compensation parameters is sorted into a 4-column table.
- Column 1 contains the unambiguous identifier of the compensation parameter called the “ID” which consists of the prefix “P-COMP” and a unique 5-digit number,
e.g. P-COMP-00001. - Column 2 represents the data structure which defines the parameter,
e.g. kopf.
The structure is a categorisation aid and is described in the following section. - Column 3 contains the “parameter” with its exact description,
e.g. achs_nr. The important thing is that “structure”+”parameter” always belong together and must therefore be configured in exactly the same way in the compensation parameter list,
e.g. kopf.achs_nr - Column 4 contains the “functionality” in a summarised term/short description,
e.g. logical axis number.
ID | Structure | Parameter | Functionality/ Short description |
|---|---|---|---|
kopf. | achs_nr | Logical axis number | |
kopf. | log_achs_name | Axis name | |
kw.crosscomp. | last_index | Last index of compensation value list | |
kw.crosscomp. | slave_ax_nr | Logical axis number of the master axis | |
kw.crosscomp.table[i]. | setpoint | Interpolation point of the master axis | |
kw.crosscomp.table[i]. | correction | Compensation values for the slave axis | |
kw.crosscomp2. | interval | Distance between interpolation points | |
kw.crosscomp2. | last_index_master1 | Last index of master axis 1 (plane compensation) | |
kw.crosscomp2. | last_index_master2 | Last index of master axis 2 (plane compensation) | |
kw.crosscomp2. | start_position_master1 | Start position of master axis 1 (plane compensation) | |
kw.crosscomp2. | start_position_master2 | Start position of master axis 2 (plane compensation) | |
kw.crosscomp2. | master1_ax_nr | Logical axis number of the master axis 1 | |
kw.crosscomp2. | master2_ax_nr | Logical axis number of the master axis 2 | |
kw.crosscomp2.table[i][j]. | correction | Compensation values for the slave axis | |
kw.ssfk. | unit | Unit of the length/position entries | |
kw.ssfk. | interval | Distance between interpolation points | |
kw.ssfk. | kw_startpos | Start position of compensation values | |
kw.ssfk. | kw_nr_max | Number of compensation values | |
kw.ssfk. | bilateral | Operation mode of compensation | |
kw.ssfk. | modulo | Compensation of a modulo axis | |
kw.ssfk.table[i]. | pos | Compensation value in positive direction | |
kw.ssfk.table[i]. | neg | Compensation value in negative direction | |
kw.ssfk.table[i]. | setpoint | Interpolation points of the axis | |
kw.crosscomp. | n_cycles | Number of cycles for ‘smooth switching’ | |
kw.crosscomp2. | n_cycles | Number of cycles for ‘smooth switching’ | |
kw.ssfk. | manual_activation | Manual activation | |
kw.crosscomp. | manual_activation | Manual activation | |
kw.crosscomp2. | manual_activation | Manual activation | |
kw.crosscomp2. | grid | Type of interpolation point grid | |
kw.crosscomp2. | interval1 | Distance between the interpolation points of the first master axis | |
kw.crosscomp2. | interval2 | Distance between the interpolation points on the second master axis | |
frict_comp. | mode | Friction compensation mode | |
frict_comp. | table_entries | Number of elements in the compensation value list | |
frict_comp. | position_delay | Delay value for current build-up | |
frict_comp. | reversal_lookahead | Reversal look ahead | |
frict_comp. | scaling_factor | Scaling factor for the compensation values | |
frict_comp.table[i]. | in | Velocity input variable | |
frict_comp.table[i]. | out | Measured friction (motor current) – output variable | |
kw.ssfk. | set_pos_without_comp | Consideration of other axis compensations | |
frict_comp. | delay_cycles | Delay time for the compensation values | |
kw.ssfk. | max_points | Max. table entries (leadscrew error compens.) | |
kw.crosscomp. | max_points | Max. table entries (cross compensation) | |
kw.crosscomp2. | max_points | Max. table entries (plane compensation) | |
frict_comp. | max_points | Max. table entries (friction compensation) | |
kw.crosstalk. | master_ax_nr | Log. Axis number of the master axis | |
kw.crosstalk. | n_cycles | Number of cycles for ‘smooth switching’ | |
kw.crosstalk. | manual_activation | Manual activation of crosstalk compensation | |
kw.crosstalk. | acceleration | Acceleration of the master axis | |
kw.crosstalk. | deceleration | Negative acceleration of the master axis | |
kw.crosstalk. | master_pos1_ax_nr | Log. Axis number of the first adaptation axis | |
kw.crosstalk. | master_pos2_ax_nr | Log. Axis number of second adaptation axis | |
kw.crosstalk. | mode | Crosstalk compensation mode | |
kw.crosstalk. | max_points | Number of measurement tests in the compensation value list | |
kw.crosstalk. | velocity_dependent | Different compensation values for different motion directions | |
kw.crosstalk.position[i]. | ax_1 | Position of the first adaptation axis with acceleration test | |
kw.crosstalk.position[i]. | ax_2 | Position of the second adaptation axis with acceleration test | |
kw.crosstalk.position[i]. | correction_accelerate_dir_pos | Compensation value for acceleration in positive motion direction | |
kw.crosstalk.position[i]. | correction_accelerate_dir_neg | Compensation value for acceleration in negative motion direction | |
kw.crosstalk.position[i]. | correction_decelerate_dir_pos | Compensation value for deceleration in positive motion direction | |
kw.crosstalk.position[i]. | correction_decelerate_dir_neg | Compensation value for deceleration in negative motion direction |