Siemens SINUMERIK 840D sl Function Manual page 413

A typical characteristic of quadrant transitions without friction compensation is shown in the
diagram below.
Figure 5-14
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).
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Uncompensated radius deviation at quadrant transitions
(amplitude) in [mm/min]
5.6 Friction compensation (quadrant error compensation)
K3: Compensation
413