Conventional Friction Compensation - Siemens SINUMERIK 840D sl Function Manual

K3: Compensation
5.6 Friction compensation (quadrant error compensation)
To simplify commissioning, the compensation characteristic no longer has to be set manually
by the commissioning engineer but is determined automatically during a training phase and
then stored in the non-volatile user memory.
The neural network can reproduce a compensation curve of much better quality and
precision.
The function also allows simple automatic re-optimization directly at the machine.
Circularity test
The friction compensation function (both conventional and neural friction compensation) can
be commissioned most easily by means of a circularity test. This is done by following a
circular contour, measuring the actual position and representing the deviations from the
programmed radius (especially at the quadrant transition points) graphically. The
measurements are recorded using a "Trace" that is stored in the passive file system.
The circularity test is a "commissioning tool" function and can also be selected in the
Commissioning area of the HMI operator interface. For further information, refer to Section
"Circularity test".
5.6.2

Conventional friction compensation

5.6.2.1 Conventional friction compensation
Type of friction compensation
Conventional friction compensation is selected by entering the value 1 in machine data
MD32490 $MA_FRICT_COMP_MODE (friction compensation method).
Amplitude adaptation
In many cases, the injected amplitude of the friction compensation value does not remain
constant over the whole acceleration range. For example, for optimum compensation with
high accelerations, a smaller compensation value must be injected than for smaller
accelerations. For this reason, friction compensation with adapted injection amplitude can be
activated in cases where high accuracy is required (see diagram below). The function is
activated for specific axes with machine data
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 1
(friction compensation adaptation active).
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Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions