Siemens SINUMERIK 828D Commissioning Manual page 236

Tuning
6.7 Friction compensation with adaptive characteristics
Enter a factor between -1.0 and 1.0 in MD32588 $MA_FRICT_T_STEP[0...9] for each
acceleration value in order to weight the amplitude of the torque injection pulse.
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Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
CNC commissioning