Siemens SINUMERIK 840D sl Function Manual page 342

K3: Compensations
5.9 Friction compensation with adaptive characteristics
Commissioning (manual)
Requirement
The circularity test (Page 334) for determining the characteristic parameter was already been
successfully performed completely or at least for the current measuring step.
Note
Determining the characteristic parameters
● The characteristic parameters for the torque setpoint pulse are most simply determined in
the circularity test (Page 334) of the user interface:
● Operating area: "Commissioning" > "NC" > "Friction compensation"
● The machine data are most simply set via the data list of the circularity test:
Operating area: "Commissioning" > "NC" > "Friction compensation" > "Data list" vertical
softkey
Assumption
The circularity tests has been started, measuring step 1 is active.
Recommended procedure
1. Initialization of the weighting factors:
– MD32588 $MA_FRICT_ADAPT_T_STEP[ 0 ] = 1
– MD32588 $MA_FRICT_ADAPT_T_STEP[ 1 ... 9 ] = 0
Note: For all measuring steps, the weighting factor with index 0 is used.
2. Setting the amplitude for the current measuring step:
– MD32576 $MA_FRICT_TORQUE_STEP = <amplitude>
3. Determining the changed contour deviation in the circle diagram.
4. Optimization of the amplitude value by changing in MD32576
$MA_FRICT_TORQUE_STEP and checking in the circle diagram.
5. Recording the amplitude value for this measuring step for subsequent determination of the
maximum value or the weighting factor of the measuring step.
6. Switching on to the next measuring step and continuing with point 2 until the amplitude
values have been determined for all measuring steps.
7. Determining the maximum value from the recorded amplitude values and entering them in
the machine data:
8. Calculation of the weighting factors for all active interpolation points from the recorded
amplitude values and entering them in the machine data:
That completes commissioning of the amplitude characteristic for the torque setpoint pulse.
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Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions