# TrueAngle Compensation

Certain tools are equipped with a gyro and measure the tool rotation during tightening. If the tool is rotated during tightening, the angle measurement may be corrupted. This leads to faulty tightening if made to angle references. For variations within specified limits, the controller can compensate for these rotations and make a correct tightening.

If the tool rotation is outside specified limits, the tightening is aborted and the result status NOK is reported. Additional information reports Tool movement exceeded.

Parameter | Description | Default
--- | --- | ---
TrueAngle compensation | Available for all tightening strategies except Rotate. Tools which have a crowfoot installed as an attachment do not support the parameter TrueAngle compensation. | On
Tool movement limits - Negative | Only visible if TrueAngle compensation is on. Defines the maximum negative rotation of the tool. If the value is exceeded the tightening is terminated and an error is reported. Expressed in a numeric angle value. Min value: 1 Max value: 180 | 30
Tool movement limits - Positive | Only visible if TrueAngle compensation is on. Defines the maximum positive rotation of the tool. If the value is exceeded the tightening is terminated and an error is reported. Expressed in a numeric angle value. Min value: 1 Max value: 180 | 30

Only tools with gyro have the capability to measure the tool movement.