Quick Commissioning - Siemens SINUMERIK 840D sl Function Manual

Compensations (K3)
5.7 Neural quadrant error compensation
5.7.6

Quick commissioning

Preparation for "Learning"
● Calculate the optimum friction compensation time constant
● Enter the following machine data without power ON:
Machine data
MD19330 NC-CODE_CONF_NAME_TAB[8]
MD19300 COMP_MASK
MD32490 $MA_FRIC_COMP_MODE (friction
compensation method)
MD32500 $MA_FRIC_COMP_ENABLE
(friction compensation active)
MD32580 $MA_FRIC_COMP_INC_FACTOR
(weighting factor friction compensation value
with short traversing movements)
MD38010 $MA_MM_QEC_MAX_POINTS
(number of values for quadrant-error
compensation with neural network)
MD32620 $MA_FFW_MODE (feedforward
control mode)
MD32610 $MA_VELO_FFW_WEIGHT
(feedforward control factor for speed)
MD32630 $MA_FFW_ACTIVATION_MODE
(activate feedforward control from program)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
(equivalent time constant speed control loop
for feedforward control)
* t_position ... position control cycle (=basic system cycle * factor for position control cycle),
n_setSm. ... speed setpoint smoothing (MD1500 to 1521)
● Read in the machine data because of the memory change (MD38010).
426
(MD32540 $MA_FRICT_COMP_TIME (backlash)) with the conventional friction
compensation.
Standard
0
0
1
0
0
0
1
1
1
0,004
– HMI Embedded:
Back up "Services" "Data OUT" "Commissioning data, NCK data" and, if applicable,
"LEC, measuring system error, sag and angularity error compensation tables" via
PCIN. Perform a POWER ON reset and then read in the backup data using PCIN and
"Data IN". (= series commissioning).
– HMI Advanced:
Back up "SERIES COMM." and, if applicable, "LEC, measuring system error, sag and
angularity error compensation tables". Perform a POWER ON Reset and read in the
"COMM." archive (backed up data are loaded again).
Change to Meaning
Activate option "IPO_FUNKTION_MASK".
Only with learn program "Polynomial"!
Bit4 = 1
Set option
2 "Type of friction compensation" neural QEC
0 "Friction compensation active" for learning
"OFF"
0 "Weighting factor of friction compensation
value for short traversing motions" (mm
increments)
400 "Selection of values for QEC" =
$AA_QEC_FINE_STEPS *
($AA_QEC_COARSE_STEPS + 1)
1 Speed feedforward control
1 Injection 100%
0 Feedforward control ON continuously
Initial value Adjust equivalent time constant n control
t_pos + loop
n_setSm.*
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions