January 2012 6.10 Axis Error Compensation 725
MP_compFriction0
Friction compensation at low speed
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 000 000 to 30 [A]
Default: 0 [A]
Access: LEVEL3
Reaction: RUN
MP_compFrictionT1
Distance before the reversal point for reducing the current from
MP_compFriction0
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 000 000 to 1 [mm] or [°]
The following units of measure apply:
MP_compFrictionT1 = [s] if MP_compFrictionT2 = 0
(same behavior as CC 422)
MP_compFrictionT1 = [mm] if MP_compFrictionT2 > 0
0: No friction compensation
Default: 0
Access: LEVEL3
Reaction: RUN
MP_compFrictionT2
Distance after the reversal point for current from
MP_compFriction0
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 000 000 to 1 [mm] or [°]
0: Friction compensation same as with CC 422
Default: 0 [mm]
Access: LEVEL3
Reaction: RUN
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