Supplementary Conditions; Friction Compensation With Adaptive Characteristics; Description Of The Function - Siemens SINUMERIK 840D sl Function Manual

Characteristic parameters: Amplitude Δn
The maximum and minimum amplitude of the velocity setpoint pulse (Δn
entered in the following machine data:
● MD32520 $MA_FRICT_COMP_CONST_MAX[ <axis> ] = <Δn
● MD32530 $MA_FRICT_COMP_CONST_MIN[ <axis> ] = <Δn
Note
If satisfactory results cannot be obtained for very small path velocities, the computational
resolution may have to be increased:
● MD10200 $MA_INT_INCR_ PER_MM (computational resolution for linear positions)
● MD10210 $MA_INT_INCR_PER_DEG (computational resolution for angular positions)
Velocity setpoint pulse: Decay time
The decay time of the velocity setpoint pulse is set via:
MD32540 $MA_FRICT_COMP_TIME[ <axis> ] = <decay time>
5.8.3

Supplementary conditions

Reaction of setpoint-related compensation functions
The following setpoint-related compensation functions affect the position setpoint and must
therefore be deactivated for the axes that perform a circularity test:
● Sag and angularity compensation (CEC)
MD32710 $MA_CEC_ENABLE[ <axis> ] = 0
● Directional leadscrew error compensation (LEC):
MD32710 $MA_CEC_ENABLE[ <axis> ] = 0
● Temperature compensation:
MD32750 $MA_TEMP_COMP_TYPE[ <axis> ] = 0
5.9

Friction compensation with adaptive characteristics

5.9.1

Description of the function

Friction compensation with adaptive characteristics has the following properties:
● For fast and simple optimization, commissioning can be performed via the SINUMERIK
Operate user interface.
● In guided commissioning, the test movements are optionally generated automatically for
one or two axes.
● The compensation values can be set separately for each axis, e.g. for a vertical axis, for
each reversal point.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
5.9 Friction compensation with adaptive characteristics
and Δn
min max
K3: Compensations
, Δn ) must be
max min
>
max
>
min
331