Siemens SINUMERIK Series Function Manual page 290

K3: Compensations
4.6 Friction compensation (quadrant error compensation)
Circularity test with friction compensation and initial parameter values
It is recommended that a relatively small compensation value, as well as a time constant of
just a few position control cycles, be set as initial parameter values, e.g.:
● MD32520 $MA_FRICT_COMP_CONST_MAX[ <axis> ] = 10 [mm/min]
● MD32540 $FRICT_COMP_TIME[ <axis> ] = 0.008 [ms]
The circularity test performed with these parameter values provides an initial assessment of
the friction compensation.
Compensation value too small
Too small a compensation value (MD32520) in the circularity test is indicated by insufficient
compensation of the contour deviations at the quadrant transitions.
Figure 4-14
290
Compensation value set too small
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions