Siemens SINUMERIK 840D sl Function Manual page 335

The characteristic parameters for the torque setpoint pulse required only in exceptional cases
must be determined manually.
Note
Friction compensation - axis selection dialog
For the selection of an axis on an NCU other than the currently selected NCU, a switchover is
no longer possible once the "Friction compensation" dialog is opened.
To clear the switchover lock, you must first exit the "Friction compensation" dialog.
References
The description of friction compensation with adaptive characteristics via the SINUMERIK
Operate user interface can be found in: Commissioning Manual, CNC Commissioning: NC,
PLC, drive; Section "Commissioning NC" > "Friction compensation with adaptive
characteristics"
Function
The characteristic parameters are determined using a circularity test for up to nine different
acceleration values (Page 336). One or two machine axes are alternately continuously
traversed via an circularity test program generated automatically by the control and the result
is displayed in a circle diagram.
The traversing movements of the circularity program (radius, path velocity, and direction of
rotation) are already set in the following setting data. If necessary, they can be modified via
the data list (see below paragraph "Further parameters").
Parameters
Radius
Path velocity
Direction of rota‐
tion
1) Only effective in the circularity test with two axes
Measuring step
After the start of the circularity test program, in each of the up to nine measuring steps of a
measurement series, the axes are traversed with the path velocity that is defined in the setting
data or with the corresponding acceleration. The deviations of the actual positions from the
ideal path are acquired and displayed as a set or actual circular path. The parameters of the
velocity setpoint pulse can be varied by the commissioning engineering while the circularity
test continues to be performed constantly. The resulting changes are automatically updated
in the result graphics.
If the circularity tests is only performed with a single axis, the result is also displayed as a circle.
For this purpose, the determined contour deviations of the axis are displayed one horizontally
and once vertically. If the circularity test is performed with two axes, both axes must be
geometry axes of the same channel.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Axis type
Linear axis
Rotary axis
Linear axis
Rotary axis
---
1)
5.9 Friction compensation with adaptive characteristics
Setting Data
SD55820 $SCS_FRICT_OPT_RADIUS
SD55821 $SCS_FRICT_OPT_RADIUS_ROT
SD55822$SCS_FRICT_OPT_FEED[ 0 ... 8 ]
SD55823 $SCS_FRICT_OPT_FEED_ROT[ 0 ... 8 ]
SD55828 $SCS_FRICT_OPT_DIR_MINUS
K3: Compensations
335