ID 110591

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

Description

For friction compensation (see [FCT-C25]), lists with velocities and associated torques must be specified in the compensation value lists. The velocity values must be greater than zero and be specified in ascending order.

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 compensation is disabled

Solution

Class

7

Check and correct the parameters in the compensation value list.
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 in the compensation value list

%3:

Error value [1µm/s or 0.001°/s]

Incorrect velocity value

%4:

Current value [1µm/s or 0.001°/s]

Last correctly entered velocity value

Error type

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