Priority of compensation

To meet the requirements of the different applications, the software module offers several compensation priorities. These differ in whether the priority with regard to balancing the axis group members is placed on skewing or on the torque. These priorities cannot be combined.

Frictional connections (e.g. vehicles) are preferably operated in the "Torque" compensation priority. For positive connections, the compensation priority depends on the mechanical connection.

The following functions are available for both compensation priorities:

• Central control, referencing, and troubleshooting of an axis group
• Central position control (slip compensation also possible via an external encoder)
• Use of a virtual master
• Support for MultiMotion functions (e.g. positioning or speed specification)

• Torque priority
• Skew priority
• User-defined skew error
• User-defined speed correction values with diagnostics
• Selection of the compensation priority