Stiction Compensation With Voltage Pulse / Voltage Ramp - Siemens SINAMICS S120 System Manual

5.4.2.2

Stiction compensation with voltage pulse / voltage ramp

If the pressures at A and B are sensed, then the stiction compensation using the voltage
pulse/voltage ramp can be activated (p1400.9 = 1).
Without force control and pressure sensors, stiction can be essentially compensated using a
voltage pulse when reversing the traversing direction. The duration and magnitude of the
voltage pulse must be set in p1570, p1571 and p1572. Further, the standstill threshold in
p1552 is active. The piston must be calibrated. It is not necessary to know the adhesive
forces.
Preconditions
The following preconditions must be fulfilled to use stiction compensation with voltage
pulse/voltage ramp:
● The axis was referenced (homed)
● The piston has been calibrated (r1407.3 = 1)
● The dead volume has been correctly parameterized (p0341, p0315, p0346 to p0348).
Velocity threshold
When the velocity entered in p1552 is fallen below, SINAMICS Hydraulic Drive ensures that
the stiction is compensated using a voltage pulse/voltage ramp.
Voltage pulse/voltage ramp
You define the voltage pulse/voltage ramp to compensate the stiction using the following
parameters:
● Using parameter p1570, you adjust the magnitude of the voltage pulse/voltage ramp for
the stiction compensation when changing from a negative to a positive traversing
direction.
● Using parameter p1571, you adjust the magnitude of the voltage pulse/voltage ramp for
the stiction compensation when changing from a positive to a negative traversing
direction.
● Using parameter p1572 you adjust the duration of the voltage pulse/voltage ramp for the
stiction compensation. The duration can only be set precisely the same for both
directions.
Note
The gradient of the voltage pulse/voltage ramp is automatically obtained from the specified
magnitude and duration. You can obtain more information from the function diagram 4978
(see "Figure 5-13 Function diagram 4978 – stiction compensation with voltage pulse /
voltage ramp (Page 167)")
Hydraulic Drive
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Drive functions
5.4 Force control
165