Siemens SINUMERIK 840D sl Function Manual page 330

K3: Compensations
5.8 Friction compensation with adaptive characteristic
Evaluation of the value pairs determined (a, Δn
To determine the acceleration interpolation points a
maximum amplitude of the velocity setpoint pulse Δn
applying the value pairs determined in the circularity test comprising the acceleration a and
the associated optimum amplitude of the velocity setpoint pulse Δn
Figure 5-22
The acceleration interpolation points a
of the velocity setpoint pulse Δn
Axis-specific machine data
Activating friction compensation
Friction compensation is activated with:
MD32500 $MA_FRICT_COMP_ENABLE[ <axis> ] = TRUE (1)
Activating friction compensation with adaptive characteristic
Friction compensation with adaptive characteristic is activated with:
● MD32490 $MA_FRICT_COMP_MODE[ <axis> ] = 1
● MD32510 $MA_FRICT_COMP_ADAPT_ENABLE[ <axis> ] = TRUE (1)
Characteristic parameters: Acceleration a
The axis-specific acceleration a occurring on a circle path on reversal at the quadrant
transitions is calculated from the radius r and the path velocity v as: a = v
The acceleration values a
ascending order (a
● MD32550 $MA_FRICT_COMP_ACCEL1[ <axis> ] = <a
● MD32560 $MA_FRICT_COMP_ACCEL2[ <axis> ] = <a
● MD32570 $MA_FRICT_COMP_ACCEL3[ <axis> ] = <a
330
Axis-specific characteristic determination
and Δn
min
, a , and a
1 2
< a < a ).
1 2 3
)
opt_a
, a , and a
1 2
and Δn
min
, a , and a and the minimum and maximum amplitude
1 2 3
result from drawing in the straight lines G1 ...G4.
max
, a , and a
1 2 3
, are entered in the machine data in monotonically
3
>
1
>
2
>
3
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
and the minimum and
3
, we recommend graphically
max
: Δn = f(a)
opt_a opt_a
/ r
2
Extended Functions