Commissioning Of Conventional Friction Compensation - Siemens SINUMERIK 840D sl Function Manual

K3: Compensation
5.6 Friction compensation (quadrant error compensation)
a
2
a
3
Note about characteristic shape
In exceptional cases, the calculation characteristic may deviate from the typical shape shown
in the diagram above.
The value for Δn
5.6.2.2

Commissioning of conventional friction compensation

Circularity test
The friction compensation function can be commissioned most easily by means of a
circularity test. Here, deviations from the programmed radius (especially at the quadrant
transitions) can be measured and displayed while traversing a circular contour.
Step-by-step commissioning
The conventional friction compensation function must first be selected.
(MD32490 $MA_FRICT_COMP_MODE=1 (friction compensation method)).
The friction compensation value mainly depends on the machine configuration.
Commissioning is performed in two stages.
● Stage 1: Calculation of the compensation values without adaptation
● Stage 2: Calculation of the adaptation characteristic (if the friction compensation is
Commissioning stage 1: Friction compensation without adaptation
1. Circularity test without friction compensation
A circularity test without friction compensation must be performed first
(MD32500 $MA_FRICT_COMP_ENABLE = 0)
The circularity test procedure is described in Section "Circularity test".
412
= Adaptation acceleration value 2 for friction compensation
MD32560 $FRICT_COMP_ACCEL2[n]
(adaptation acceleration value 2)
= Adaptation acceleration value 3 for friction compensation
MD32570 $FRICT_COMP_ACCEL3[n]
(adaptation acceleration value 3)
(MD32530) might then even be higher than Δn
min
dependent on the acceleration and the results of stage 1 are not satisfactory).
(MD32520).
max
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions