Torque Setpoint Pulse - Siemens SINUMERIK 840D sl Function Manual

K3: Compensations
5.9 Friction compensation with adaptive characteristics
Example: Amplitude characteristic for the lower reversal point
● Maximum value
● Weighting factors
● Effective interpolation points
The effective interpolation points of the amplitude characteristics are the interpolation points
to which the following applies:
– MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL[ <interpolation point> ] ≠ 0
– MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS[ <interpolation point> ] ≠ 0 (weighting
The amplitude of the velocity setpoint pulse of an effective interpolation point is calculated
as:
Note
Vertical offset of a characteristic
Subsequent vertical displacement of a characteristics is most easily achieved by changing the
corresponding maximum value in the machine data.
5.9.2.5

Torque setpoint pulse

Determination of the characteristic parameters for the torque setpoint pulses and calculation
of the corresponding machine data is not supported directly by the user interface. We therefore
advise determining the characteristic parameters or writing the machine data manually
340
(acceleration)
factor)
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions