Siemens SINUMERIK 840D sl Function Manual page 411

Figure 5-13
The adaptation characteristic is divided into four ranges (a different injection amplitude Δn is
applied in each range):
B1:
B2:
B3:
B4:
Characteristic parameters
The parameters of the adaptation characteristic in the diagram above must be entered as
machine data for specific axes.
Δn
Δn
Δn
a
1
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Typical curve for friction compensation with amplitude adaptation
for a < a
1
for a ≤ a ≤ a
1 2
for a < a < a
2 3
for a ≥ a
3
= Injection amplitude of friction compensation value
= Maximum friction compensation value
max
MD32520 $FRICT_COMP_CONST_MAX[n]
(maximum friction compensation value)
= Minimum friction compensation value
min
MD32530 $FRICT_COMP_CONST_MIN[n]
(Minimum friction compensation value)
= Adaptation acceleration value 1 for friction compensation
MD32550 $FRICT_COMP_ACCEL1[n]
(adaptation acceleration value 1)
5.6 Friction compensation (quadrant error compensation)
Δn = Δn * a / a
max 1
Δn = Δn
max
Δn = Δn * (1 - (a - a
max
Δn = Δn
min
K3: Compensation
) / (a - a ))
2 3 2
411