Conventional Quadrant Error Compensation (As From Sw 2); Installation Without Adaptation Characteristic - Siemens SINUMERIK 840C Installation Instructions Manual

9 Drive Servo Start-Up Application (as from SW 3)

9.5.3 Conventional quadrant error compensation (as from SW 2)

9.5.3 Conventional quadrant error compensation (as from SW 2)
S
Corresponding
data
S
Parameterization The friction feedforward control is activated axis-specifically via MD 1804*, bit 6.
If MD 1804*, bit 7 is set, the adaptation characteristic also becomes active.
The following machine data area available for parameterization:
MD 1232*
MD 1236*
MD 1240*
MD 1244*
MD 1248*
MD 1252*

9.5.3.1 Installation without adaptation characteristic

The installation is carried out in two stages. In stage one, the friction feedforward
control without adaptation (MD 1804*, bit 6=1) is derived.
Two parameters (compensating amplitude and compensation time constant) can
be altered. These two parameters are each increased or decreased until the de-
viations from the programmed radius become minimal or have completely disap-
peared in the circularity test at the quadrant transition point (Figs. 9.20 to 9.24).
A starting value of a relatively small compensating amplitude (e.g. MD 1232* =
100) and a time constant of a few position controller cycles (e.g. MD 1236* = 80)
should be defined at the beginning of the measurement.
Changes can most clearly be seen when the circularity test is first carried without
friction feedforward control (MD 1804*, bit 6 = 0).
Fig. 9.20 shows typical quadrant transition points without friction feedforward
control.
1) 100% in the two compensation values from MD 1232* and 1240* correspond to a speed setpoint of
1 V on analog drives and 10% of the maximum speed set on the drive side on digital drives.
9–44
MD 1332*
1236*
1240*
1244*
1248*
1252*
1256*
MD 1804*, bit 6
1804*, bit 7
1824*, bit 0
Compensation value in range 2
Compensation time constant
Compensation value in range 4
Upper limit range 1 (a
Upper limit range 2 (a
Upper limit range 3 (a
Siemens AG 2001 All Rights Reserved 6FC5197–jAA50
[0.1 mV] [0.01 %]
[0.1 ms]
[0.1 mV] [0.01 %]
) [100 units MS/s
1
) [100 units MS/s
2
) [10000 units MS/s
3
SINUMERIK 840C (IA)
09.95
1)
1)
2
]
2
]
2
]