K3: Compensations
4.8 Data lists
Extended Functions
302 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Number Identifier: $MA_ Description
32560 FRICT_COMP_ACCEL2 Adaptation acceleration value 2
32570 FRICT_COMP_ACCEL3 Adaptation acceleration value 3
32580 FRICT_COMP_INC_FACTOR Weighting factor for friction compensation value for
short traversing motion
32610 VELO_FFW_WEIGHT Feedforward control factor for velocity/speed
feedforward control
32620 FFW_MODE Feedforward control mode
32630 FFW_ACTIVATION_MODE Activate feedforward control from program
32650 AX_INERTIA Inertia for torque feedforward control
32700 ENC_COMP_ENABLE Interpolatory compensation
32710 CEC_ENABLE Enabling of sag compensation
32711 CEC_SCALING_SYSTEM_METRIC System of units for sag compensation
32720 CEC_MAX_SUM Maximum compensation value for sag compensation
32730 CEC_MAX_VELO Change of velocity during sag compensation
32750 TEMP_COMP_TYPE Temperature compensation type
32760 COMP_ADD_VELO_FACTOR Velocity increase as a result of compensation
32711 CEC_SCALING_SYSTEM_METRIC System of units for sag compensation
32800 EQUIV_CURRCTRL_TIME Equivalent time constant current control loop for
feedforward control
32810 EQUIV_SPEEDCTRL_TIME Equivalent time constant speed control loop for
feedforward control
32910 DYN_MATCH_TIME Time constant for dynamic response adaptation
36500 ENC_CHANGE_TOL Maximum tolerance for position actual value
switchover
38000 MM_ENC_COMP_MAX_POINTS Number of interpolation points with interpolatory
compensation
4.8.2 Setting data
4.8.2.1 General setting data
Number Identifier: $SN_ Description
41300 CEC_TABLE_ENABLE[t] Enable evaluation of beam sag compensation
table
41310 CEC_TABLE_WEIGHT[t] Weighting factor for beam sag compensation
table
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