Velocity Setpoint Pulse - Siemens SINUMERIK 840D sl Function Manual

K3: Compensations
5.9 Friction compensation with adaptive characteristics
5.9.2.4

Velocity setpoint pulse

Determination of the characteristic parameters for the velocity setpoint pulses and calculation
of the corresponding machine data is fully supported by the user interface (Page 334). We
therefore advise against determining the characteristic parameters or writing the machine data
manually.
Axis-specific machine data
Velocity setpoint pulse
Figure 5-23
The numbers (
Acceleration-independent parameters
No. Machine data
①
③
④
Maximum values of the acceleration-dependently adaptable parameters
No. Machine data
②
⑤
⑥
338
Basic pulse shape
① ②
, , ...) stated in the following tables refer to the figure above.
-
MD32572 $MA_FRICT_V_PULSE_DE‐
LAY_TIME
MD32575
$MA_FRICT_V_PULSE_SMOOTH_TIME
MD32571 $MA_FRICT_VELO_STEP
MD32573
$MA_FRICT_V_PULSE_CONST_TIME
MD32574 $MA_FRICT_V_PULSE_DE‐
CAY_TIME
Description
Trigger time or acceleration of the axes from stand‐
still
Delay time
Time constant T of the rise time,
after 5 * T ⇒ output value ≈ input value
Description
Amplitude
Active time
Decay time
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions