Friction Compensation With A Constant Compensation Value; Description Of Functions - Siemens SINUMERIK 840D sl Function Manual

K3: Compensations

5.7 Friction compensation with a constant compensation value

Friction compensation functions
The following functions are available for friction compensation:
● Friction compensation with a constant compensation value (Page 322)
Depending on the acceleration of the machine axis, the same pulse is always applied to
the velocity setpoint.
The amplitude and the decay time of the velocity setpoint pulse can be set.
● Friction compensation with adaptive characteristic (Page 328)
Depending on the acceleration of the machine axis, the velocity setpoint pulse is determined
from a parameterizable characteristic.
Three different acceleration values can be set as well as the minimum and maximum
amplitude and the decay time of the velocity setpoint pulse.
● Friction compensation with adaptive characteristics (Page 331) (Licensed option:
6FC5800-0AS06-0YB0)
Depending on the acceleration of the machine axis, the velocity setpoint pulse is determined
from up to three parameterizable characteristics.
Up to nine different acceleration values can be set. For each acceleration value, weighting
factors for the amplitude, the active time, and the decay time of the velocity setpoint pulse
can be defined.
If the velocity setpoint pulse is not sufficient to achieve the desired result, an additional
torque setpoint pulse can be parameterized.
5.7 Friction compensation with a constant compensation value
5.7.1

Description of functions

The friction compensation described below with constant compensation value is intended for
applications in which the following general conditions apply:
● The velocity setpoint pulse required for friction compensation is independent of the
acceleration.
● An acceleration-independent amplitude and an acceleration-independent decay time are
sufficient to model the velocity setpoint pulse.
● For friction compensation at the positive and negative reversal point, the same velocity
setpoint pulse is sufficient.
● The requirement for contour accuracy at the reversal points is relatively low.
The following figure shows an example characteristic that can be set with this function:
322
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions