Siemens SINUMERIK 840D sl Function Manual page 343

Optional
Setting the parameters that are independent of acceleration:
● MD32577 $MA_FRICT_T_PULSE_DELAY_TIME
● MD32578 $MA_FRICT_T_PULSE_SMOOTH_TIME
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 (acceleration)
● MD32583 $MA_FRICT_ADAPT_T_STEP[ <interpolation point> ] ≠ 0 (weighting factor)
The amplitude of the torque setpoint pulse of an effective interpolation point is calculated as:
Note
Vertical offset of the characteristic
Subsequent vertical displacement of the amplitude characteristic is most easily achieved by
changing the corresponding maximum value in the machine data.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
5.9 Friction compensation with adaptive characteristics
K3: Compensations
343