Friction Compensation With Adaptive Characteristics - Siemens SINUMERIK 828D Commissioning Manual

6.7

Friction compensation with adaptive characteristics

Requirements
If the friction compensation is activated for an axis and the option is not licensed, an alarm is
output.
Only those axes are listed for friction compensation for which MD32490 = 3 or 4 is set.
Machine data
MD32500 $MA_FRICT_COMP_ENABLE = 1
Friction compensation with adaptive characteristics:
MD32490 $MA_FRICT_COMP_MODE = 3
MD32490 $MA_FRICT_COMP_MODE = 4
Call the function at the control in the commissioning operating area: "NC" softkey → "Friction
compensation" softkey.
Backing up tuning results
When tuning, the axis machine data are changed as follows during the measuring series:
● When a measurement series is started, the friction compensation values in the axis machine
data are reset.
● When the measurement series is exited, the new friction compensation values are written
to the axis machine data and backed up.
● When the measurement series is cancelled, the previous friction compensation values are
restored in the machine data.
NOTICE
Backing up tuning results
If the power fails during the tuning process, tuning result data can be lost.
⇒ SINUMERIK 840D sl: In order to avoid that tuning results are lost, it is recommended that
you create a commissioning archive with NC data that contains the axis machine data of the
last complete measurement series. You do not have to select the "With compensation data"
option.
⇒ SINUMERIK 828D: In order to avoid that tuning results are lost, it is recommended that
you create a data class archive of the type "INDIVIDUAL" that contains the friction
compensation data of the last complete measurement series.
CNC commissioning
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
Software option
You require the following software option in order to use this function:
"Friction compensation with adaptive characteristics"
6.7 Friction compensation with adaptive characteristics
Meaning
Enable friction compensation for this axis
Injection time depends on the velocity setpoint
Injection time depends on the position controller
output
Tuning
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