Compensation tab

Use the settings on the
Compensation
 tab to configure the compensation manual tuning parameters. Use the tab to:
  • Enter values for the friction and backlash compensation.
  • Enter values for the system inertia and torque offset.
  • Configure the Load Observer.
TIP: To open the Compensation tab:
  1. In the
    Controller Organizer
    , expand the
    Motion Groups
     folder, and double-click an axis.
  2. In the lower left of the
    Axis Properties
     dialog box, click
    Manual Tune
    .
  3. In the
    Motion Console
     dialog box, click
    Additional Tune > Compensation
    .
The
Compensation
 tab includes these parameters.
Parameter
Description
System Inertia
Specifies a value for the system inertia.
The values are in the range of 0 to Max Float.
Torque Offset
Specifies a value for the torque offset in the range of -100 to 100.
Friction Compensation
Specifies a value for the friction compensation.
The values are in the range of 0 to Max Float.
Friction Compensation Window
Specifies a value for the friction compensation window.
The values are in the range of 0 to Max Float.
Backlash Compensation Window
Specifies a value for the backlash compensation window.
The values are in the range of 0 to Max Float.
Load Observer Configuration
Shows the value for the Configuration on the Load Observer dialog box.
Available values include:
  • Disabled
  • Load Observer Only
  • Load Observer with Velocity Estimate
  • Velocity Estimate Only
  • Acceleration Feedback
Load Observer Bandwidth
Specifies a value for the load observer bandwidth.
The values are in the range of 0 to Max Float.
This parameter appears dimmed when
Load Observer Configuration
 is set to
Disable
.
Load Observer Integrator Bandwidth
Specifies a value for the load observer bandwidth window.
This parameter appears dimmed when
Load Observer Configuration
 is set to
Disable
.
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