Supplementary Conditions; Friction Compensation With Adaptive Characteristic; Description Of Functions - Siemens SINUMERIK 840D sl Function Manual

K3: Compensations

5.8 Friction compensation with adaptive characteristic

5.7.3

Supplementary conditions

Reaction of setpoint-related compensation functions
The following setpoint-related compensation functions affect the position setpoint and must
therefore be deactivated for the axes that perform a circularity test:
● Sag and angularity compensation (CEC)
MD32710 $MA_CEC_ENABLE[ <axis> ] = 0
● Directional leadscrew error compensation (LEC):
MD32710 $MA_CEC_ENABLE[ <axis> ] = 0
● Temperature compensation:
MD32750 $MA_TEMP_COMP_TYPE[ <axis> ] = 0
5.8 Friction compensation with adaptive characteristic
5.8.1

Description of functions

The friction compensation with adaptive characteristic is intended for applications with the
following requirements:
● The velocity setpoint pulse required for friction compensation depends on the acceleration.
● It is enough if the characteristic is modeled by three different acceleration interpolation
points and a minimum and maximum amplitude of the velocity setpoint pulse.
● An acceleration-dependent amplitude and an acceleration-independent decay time are
sufficient to model the velocity setpoint pulse.
● For friction compensation at the positive and negative reversal point, the same velocity
setpoint pulse is sufficient.
● For greater acceleration, a smaller compensation value is required than for smaller
acceleration.
● The requirement for contour accuracy at the reversal points is high.
The following figure shows an example characteristic that can be set with this function:
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Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions