Installation With Adaptation Characteristic - Siemens SINUMERIK 840C Installation Instructions Manual

9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

9.5.3.2 Installation with adaptation characteristic

If the compensation is acceleration dependant, a characteristic must be determi-
ned in a second stage.
The required compensation amplitudes for different radii and velocities are deter-
mined, the effect of the compensating amplitudes checked in a circularity test and
the optimum compensation amplitudes logged.
The following characteristic is used for the adaptation:
Fig. 9.25
A distinction is made between four ranges in the characteristics:
Dn =
The characteristics in Fig. 9.25 are used for the following examples. It is defined
by the values "Maximum compensating amplitude", "Minimum compensating am-
plitude" and the three acceleration values a
sured values should be determined as a control, must importantly there should
be a sufficient number of points for high velocities with small radii. The characteri-
stic values are most easily derived from a graphic representation.
The acceleration values are derived from j a j = v
velocity. The acceleration value can easily be varied using the override switch.
Before entering these acceleration values a
1248* and 1252*, it may be necessary to convert to the input format of the ma-
chine data ([mm/s
A monitoring function in the control ensures that incorrect parameterization of the
characteristics for the friction feedforward control are avoided.
The following conditions must be met when entering accelerations a
for the characteristic.
a
If this condition is not met, parameter error 328 is output. The user should there-
fore follow the input sequence a
values. Parameter error 328 is also output if internal formats are exceeded as a
result of calculation errors when determining the accelerations from inputs a
and a
9–48
Dn
t
a
Dn
max a
1
Dn
max
a – a
Dn
1 –
max
a
Dn
min
] ! [100 units MS/s
2
< a < a
1 2 3
. If this happens, the user must check whether the break points in the
1
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Max. amplitude NC MD 12320
Dn
max
Dn
min
1 2
a a
1 2
NC MD 12440 NC MD 12480 NC MD 12520
for a < a
1
 a  a
for a
1 2
2
for a < a < a
2 3
– a
3 2
 a
for a
3
, a and a
3 2 1
2
/r from the radius and travel
, a and a
3 2 1
2
] or [10000 units MS/s
, a and then a when entering the acceleration
3 2 1
09.95
Minimum amplitude
NC MD 12400
Acceleration
3 4
a a
3 '3
. Considerably more mea-
in machine data 1244*,
2
]).
, a and a
3 2 1
, a
3 2
SINUMERIK 840C (IA)