Friction Compensation With Torque Injection Pulse - Siemens SINUMERIK 840D sl Commissioning Manual

NC commissioning
8.4 Friction compensation with adaptive characteristics
8.4.6

Friction compensation with torque injection pulse

Parameterizing machine data
The following axis machine data must be parameterized in order to use an acceleration-
dependent torque injection pulse also for friction compensation:
Designation
Acceleration-dependent amplitude of the
torque injection pulse
Delay time of the torque injection pulse
Ramp-up time of the torque injection pulse [s]
Weighting factor for the amplitude of the
torque injection pulse
244
Unit Machine data
--- MD32576 $MA_FRICT_TORQUE_STEP
[s] MD32577 $MA_FRICT_T_PULSE_DE‐
LAY_TIME
MD32578
$MA_FRICT_T_PULSE_SMOOTH_TIME
--- MD32588 $MA_FRICT_T_STEP[0...9]
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA