Siemens SINUMERIK 808D ADVANCED Parameter Manual page 247

Friction compensation active
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE
Friction compensation adaptation active
MD32520 $MA_FRICT_COMP_CONST_MAX
Maximum friction compensation value
MD32530 $MA_FRICT_COMP_CONST_MIN
Minimum friction compensation value
MD32550 $MA_FRICT_COMP_ACCEL1
Adaptation acceleration value 1
MD32560 $MA_FRICT_COMP_ACCEL2
Adaptation acceleration value 2
MD32540 $MA_FRICT_COMP_TIME
Friction compensation time constant
32620 FFW_MODE
- Feedforward control mode
-
- -
Description:
FFW_MODE defines the feedforward control mode to be applied on an axis-specific basis:
0 = No feedforward control
1 = Speed feedforward control with PT1 balancing
2 = Torque feedforward control (only for SINAMICS) with PT1 balancing
3 = Speed feedforward control with Tt balancing
4 = Torque feedforward control (only for SINAMICS) with Tt balancing
The high-level language instructions FFWON and FFWOF are used to activate and
deactivate feedforward control for specific channels on all axes.
To prevent feedforward control from being affected by these instructions on individual
axes, you can define that it is always activated or always deactivated in machine data
FFW_ACTIVATION_MODE (see also FFW_ACTIVATION_MODE).
If a feedforward control mode is selected (speed or torque feedforward control),
MD32630 $MA_FFW_ACTIVATION_MODE can be used to program in addition whether feedforward
control can be activated or deactivated by the part program.
Note for SINAMICS drives with torque feedforward control selected:
Alarm 26016 refers to the current machine data if
the telegram used (see MD13060 $MN_DRIVE_TELEGRAM_TYPE) does not support the torque
feedforward control function. Remedy: Use telegram 136.
Related to:
MD32630 $MA_FFW_ACTIVATION_MODE
MD32610 $MA_VELO_FFW_WEIGHT
MD32650 $MA_AX_INERTIA
32630 FFW_ACTIVATION_MODE
- Activate feedforward control from program
CTEQ
808d-me42 -
808d-me62 -
808d-te42 -
808d-te62 -
808d-mte40 -
808d-mte60 -
Parameter Manual
Parameter Manual, 08/2015, 6FC5397-8EP40-0BA1
3 0
0 0
0 0
0 0
0 0
0 0
0 0
3.4 Axis-specific machine data
A07, A09 G1, K3, S3, G2, S1
BYTE Reset
4 1/1
A07, A09 K3, G2
BYTE Reset
2 0/0
2 1/1
2 0/0
2 1/1
2 7/2
2 7/2
Machine data
247