ID 110591

The velocities for friction compensation are not sorted in an ascending order.

Description

For friction compensation (see [FCT-C25]), tables with velocities and associated torque must be specified in the compensation value lists. The velocity values must be positive and ascending.

Example (extract from compensation data list):

frict_comp.table[0].in

0

frict_comp.table[0].out

0

frict_comp.table[1].in

100

frict_comp.table[1].out

10

frict_comp.table[2].in

300

frict_comp.table[2].out

20

frict_comp.table[3].in

200

frict_comp.table[3].out

20

Correct:

frict_comp.table[0].in

0

frict_comp.table[0].out

0

frict_comp.table[1].in

100

frict_comp.table[1].out

10

frict_comp.table[2].in

200

frict_comp.table[2].out

20

frict_comp.table[3].in

300

frict_comp.table[3].out

20

Response

Class

3

Friction error compensation will be disabled

Solution

Class

7

Check and correct the parameters of the compensation value table.
frict_comp.table[.].in

Parameter

%1:

Logical axis number [-]

Logical axis number of affected axis see P-AXIS-00016

%2:

Current value [-]

Index of the incorrect velocity value

%3:

Error value [1µm/s or 0.001°/s]

Incorrect velocity value

%4:

Current value [1µm/s or 0.001°/s]

Last correct velocity value

Error type

2, Error message by data transfer from parameter list into control device.