Commissioning Functions Of The Sinumerik Operate User Interface - Siemens SINUMERIK 840D sl Function Manual

Extended functions

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K3: Compensations

5.9 Friction compensation with adaptive characteristics

Activating friction compensation with adaptive characteristics

Friction compensation with adaptive characteristics can be applied to the set or actual position

of the machine axis, depending on the dynamics of the axis. The function is activated axis-

specifically with:

MD32490 $MA_FRICT_COMP_MODE = <mode>

<mode> Meaning

1) Feedforward control: MD32620 FFW_MODE (feedforward control mode)

Commissioning

We urgently recommend performing guided commissioning using the commissioning functions

of the SINUMERIK Operate user interface (Page 334) and not changing the generated values

in the machine data subsequently.

Commissioning functions of the SINUMERIK Operate user interface

Commissioning of the friction compensation with adaptive characteristics is performed in the

"friction compensation" window:

Operating area: "Commissioning" > "NC" > "Friction compensation"

Softkey "Friction compensation"

The "friction compensation" softkey is only displayed if the friction compensation with adaptive

characteristics is active (Page 333) for at least one machine axis.

The parameters for the axis-specific velocity and torque setpoint pulses are determined and

stored retentively in machine data. Friction compensation by means of velocity setpoint pulse

is normally sufficient.

Determination of the characteristic parameters for the velocity setpoint pulses is performed

with guidance by the operator interface.

For axes with high dynamics and active feedforward control

The velocity or torque setpoint pulse is applied if the set position of the machine axis has

reached the trigger point.

For axes with low dynamics and inactive feedforward control

The velocity or torque setpoint pulse is applied if the actual position of the machine axis has

reached the trigger point.

Function Manual, 10/2015, 6FC5397-1BP40-5BA3

Extended Functions

Sinumerik 828d