Siemens SINUMERIK 840D sl Function Manual page 337

Circle radius
A circle is traversed with the parameterized radius in the automatically generated circularity
tests program:
● Linear axes
SD55820 $SCS_FRICT_OPT_RADIUS = <radius>
● Rotary axes
SD55821 $SCS_FRICT_OPT_RADIUS_ROT = <radius>
Traversing velocities
In the circularity test, the machine axes are traversed in each of the up to nine measurement
sections with the velocity parameterized in the setting data:
● Linear axes
SD55822$SCS_FRICT_OPT_FEED[ 0 ... 8 ] = <velocity 1 ... 9>
● Rotary axes
SD55823 $SCS_FRICT_OPT_FEED_ROT[ 0 ... 8 ] = <velocity 1 ... 9>
Note
● If fewer than nine characteristic interpolation points ( 1 ... n ) are required, the velocity zero
must be entered in each of the corresponding array elements for all unneeded characteristic
interpolation points ( (n+1) ... 9 ).
● If the velocity is equal to zero in an array element, no following array element must contain
a velocity that is not equal to zero.
Direction of rotation
In the circularity test with two axes, the direction of rotation of the circle is defined with:
SD55828 $SCS_FRICT_OPT_DIR_MINUS = <direction of rotation>
Axis-specific machine data
The acceleration a at the characteristic interpolation point n is calculated by the control from
the setting data for the circle radius r and the path velocity v
where n = 1, 2, 3, ... 9
For acceleration a at characteristic interpolation point n = 0, the value zero is always entered:
MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ 0 ] = 0
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
5.9 Friction compensation with adaptive characteristics
n-1
K3: Compensations
: a = v / r
2
n n-1
337