Quadrant Error Compensation (Sw 2 And Higher); Corresponding Data; Parameterization - Siemens SINUMERIK 840C Installation Instructions Manual

12 Functional Descriptions

12.16 Quadrant error compensation (SW 2 and higher)

12.16
12.16.1
MD 1232*
1236*
1240*
1244*
1248*
1252*
1256*
MD 1804, bit 6
1804, bit 7
Technical reasons for quadrant error compensation
If an axis is accelerated from a negative to a positive velocity (or vice versa), it sticks when
passing through zero speed because of the changing friction conditions. This action causes
contour errors with interpolating axes. This action seriously effects machining of circular
contours, where one axis moves at the maximum path velocity whereas the second axis is still
at the quadrant transition point. Measurements on machines have shown that this disturbing
friction moment can be compensated for by applying an additional speed setpoint pulse (with a
high enough amplitude and correct sign).
Other measurements have shown that the compensating amplitude of the friction feedforward
value does not remain constant across the whole acceleration range. Where the acceleration is
higher, feedforward control must be applied with a smaller compensation value than for smaller
acceleration. For this reason, a quadrant error compensation (QEC) with adapted amplitude
has been developed.
12.16.2
Quadrant error compensation is activated axis-specifically via MD 1804*, bit 6. If MD 1804*, bit
7 is set, the adaptation characteristic (see Fig. 1) also becomes active.
The following machine data are available for parameterization:
MD 1232*
MD 1236*
MD 1240*
MD 1244*
MD 1248*
MD 1252*
QEC is the abbreviation for Quadrant Error Compensation
12–118
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Quadrant error compensation (SW 2 and higher)

Corresponding data

Compensation value in range 2
Comensation time constant
Compensation value in range 4
Upper limit range 1 (a
Upper limit range 2 (a
Upper limit range 3 (a
Smoothing time constant
Quadrant error compensation
Adaptation

Parameterization

Compensation value in range 2
Compensation time constant
Compensation value in range 4
Upper limit range 1 (a )
1
Upper limit range 2 (a )
2
Upper limit range 3 (a )
3
ManualsBase.com
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1
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2
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3
[0.1 mV] [0.01 %]
[0.1 ms]
[0.1 mV] [0.01 %]
[100 units MS/s
[100 units MS/s
[10000 units MS/s
© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50
SINUMERIK 840C (IA)