# Compensation Parameters

**URL:** <https://community.br-automation.com/t/compensation-parameters/6049>\
**Category:** Mechatronics & Motion\
**Tags:** acp10\
**Created:** [February 26, 2025, 4:23pm UTC](https://community.br-automation.com/t/compensation-parameters/6049 "2025-02-26T16:23:22Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![mSartoriOptrel](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/msartorioptrel/32/11882_2.png) [@mSartoriOptrel](https://community.br-automation.com/u/mSartoriOptrel)\
**Post date:** [February 26, 2025, 4:23pm UTC](https://community.br-automation.com/t/compensation-parameters/6049/1 "2025-02-26T16:23:23Z")

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Hello,

is there someone able to explain how the parameters:  
MasterFactor  
SlaveFactor  
MasterCompDistance  
SlaveCompDistance

impact with Compensation Mode mcCOMP\_BETWEEN\_CAMS?

I would like to change the synchronization slope of one axis - to make the distance necessary the double of the actual one on master side (to reduce acceleration of slave)

Thank you very much in advance

Marco Sartori

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**Author:** ![Martin.Schrott](https://avatars.discourse-cdn.com/v4/letter/m/FF8800/32.png) [@Martin.Schrott](https://community.br-automation.com/u/Martin.Schrott)\
**Post date:** [February 27, 2025, 10:10am UTC](https://community.br-automation.com/t/compensation-parameters/6049/2 "2025-02-27T10:10:53Z")

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Hi,

a cam automat state consists of an optional compensation and a cam.

With compensation mode mcCOMP\_BETWEEN\_CAMS the distances between the cam of the previous state and the cam of the current state are MasterCompDistance (p2x) and SlaveCompDistance (p2y), see [Diagram](https://help.br-automation.com/#/en/4/ncsoftware/acp10_drivefunctions/kurvenscheibenautomat/variante_nconlycomp.html).  
The cam dimentions (c2x and c2y) result from the cams master and slave period multiplied by MasterFactor and SlaveFactor.  
[Cam definition](https://help.br-automation.com/#/en/4/ncsoftware%2Facp10_drivefunctions%2Fkurvenscheibenautomat%2Fdefinition_einer_kurvenscheibe_mit_polynomen.html)

c2x[Drive units] = ma\_period x MasterFactor  
c2y[Drive units] = sl\_period x SlaveFactor  
(Conversion Drive units to Measurement units: value[Drive units] x Measurement resolution = value[Measurement units])

With compensation mode mcCOMP\_BETWEEN\_CAMS when changing MasterFactor or SlaveFactor, MasterCompDistance and SlaveCompDistance have to be adjusted in order to keep the same cam automat state lenghts (p2x+c2x and p2y+c2y).

When adjusting the factors its usually easier to use compensation mode mcCOMP\_CAM\_CENTER\_POINTS. The compensation distances define the distances between the cam center points independent of the factors. Larger factors result in smaller effective compensation distances (e2x and e2y), see [Diagram](https://help.br-automation.com/#/en/4/ncsoftware%2Facp10_drivefunctions%2Fkurvenscheibenautomat%2Fvariante_ncwith_cam.html).

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<div class="post-metadata">

**Author:** ![mSartoriOptrel](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/msartorioptrel/32/11882_2.png) [@mSartoriOptrel](https://community.br-automation.com/u/mSartoriOptrel)\
**Post date:** [March 3, 2025, 8:56am UTC](https://community.br-automation.com/t/compensation-parameters/6049/3 "2025-03-03T08:56:20Z")

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> [@Martin.Schrott](#):
>
> compensation mode mcCOMP\_BETWEEN\_CAMS the distances between the cam of the previous state and the cam of the current state are MasterCompDistance (p2x) and SlaveCompDistance (p2y), see [Diagram](https://help.br-automation.com/#/en/4/ncsoftware/acp10_drivefunctions/kurvenscheibenautomat/variante_nconlycomp.html).  
> The cam dimentions (c2x and c2y) result from the cams master and slave period multipl

Hello Martin

thank you for the explanation!

Marco Sartori