Parameterization Of The Acceleration At The Characteristic Interpolation Points - Siemens SINUMERIK 840D sl Function Manual

K3: Compensations
5.9 Friction compensation with adaptive characteristics
Completion
After optimization of the compensation parameters for the entire measurement series has been
completed, the maximum values, characteristics interpolation points, and weighting factors
are calculated by the control and written into the following machine data:
Maximum value
Amplitude
Decay time
Active time
Characteristic interpolation points
Acceleration of the friction compensa‐
tion characteristics
Weighting factors
Amplitude upper / lower
Decay time upper / lower
Action time upper / lower
Additional parameters
With the vertical softkey "Data list," further machine and setting data are displayed for
parameterization of the friction compensation with adaptive characteristics, e.g. also the
parameters for the torque setpoint pulse. The setting these parameters is described in the
following sections.
5.9.2.3

Parameterization of the acceleration at the characteristic interpolation points

From the channel-specific setting data of the circularity test (circle radius and traversing
velocity), the control calculates the acceleration values of the characteristic interpolation points.
Channel-specific setting data
The channel-specific setting data for circle radius and velocities apply to all machine axes with
active friction compensation with adaptive characteristics that are channel axes of the channel
in question. They are already assigned typical values. In necessary, they can be adapted
machine-specifically.
336
Machine data
MD32571 $MA_FRICT_VELO_STEP
MD32574 $MA_FRICT_V_PULSE_DECAY_TIME
MD32573 $MA_FRICT_V_PULSE_CONST_TIME
Machine data
MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ 0 ... 9 ]
Machine data
MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS[ 0 ... 9 ]
MD32583 $MA_FRICT_ADAPT_V_STEP_MINUS[ 0 ... 9 ]
MD32586 $MA_FRICT_ADAPT_V_DECAY_PLUS[ 0 ... 9 ]
MD32587 $MA_FRICT_ADAPT_V_DECAY_MINUS[ 0 ... 9 ]
MD32584 $MA_FRICT_ADAPT_V_CONST_PLUS[ 0 ... 9 ]
MD32585 $MA_FRICT_ADAPT_V_CONST_MINUS[ 0 ... 9 ]
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions