Siemens SINUMERIK 840D sl Function Manual page 399

2. Enabling friction compensation
After this, the friction compensation must be activated for the axis/spindle in question.
Activate friction compensation with machine data
→ MD32500 $MA_FRICT_COMP_ENABLE[n] = 1
(friction compensation active)
3. Deactivate adaptation
In order to commission friction compensation without adaptation, the adaptation must be
deactivated.
Deactivate adaptation with machine data
→ MD32510 $MA_FRICT_COMP_ADAPT_ENABLE[n] = 0
(friction compensation adaptation active)
4. Determine compensation parameters
Friction compensation without adaptation is defined by the following parameters:
1. MD32520 $MA_FRICT_COMP_CONST_MAX[n] (maximum friction compensation value)
2. MD32540 $MA_FRICT_COMP_TIME[n] (friction compensation time constant) in [s]
These two parameters are changed until the circularity test produces minimum or no
deviations from the programmed radius at the quadrant transitions. The tests must be
performed with different radii and velocities (typical values for the application of the
machine).
Starting value
A relatively low injection amplitude plus a time constant of a few position controller cycles
should be entered as the start value when measuring commences.
Example:
MD32520 $MA_FRICT_COMP_CONST_MAX[n] = 10 (mm/min)
MD32540 $FRICT_COMP_TIME[n] = 0.008 (8 ms)
The effect of changing the parameters must be checked using the measured and plotted
circles.
Mean value calculation
If it is not possible to determine a common compensation time constant for the varying radii
and velocities, then the average of the calculated time constants must be worked out.
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
(amplitude) in [mm/min]
5.6 Friction compensation (quadrant error compensation)
Compensations (K3)
399