Siemens SINUMERIK 840D sl Function Manual page 418

K3: Compensation
5.6 Friction compensation (quadrant error compensation)
Time constant too high
When the compensation time constant settings are too high, radius deviations are
compensated at quadrant transitions during circularity testing (on condition that the optimum
injection amplitude has already been calculated), but the deviation in the direction of the arc
center increases significantly after quadrant transitions.
Figure 5-19
Adaptation yes/no?
If, with the time constant and the constant injection amplitude determined, a good result is
achieved both in the circularity test and in positioning over the whole working area (i.e. for all
radii and velocities of relevance), curve adaptation will not be necessary.
However, if the friction compensation turns out to be dependent on the acceleration, the
adaptation characteristic must be calculated in second stage.
418
Compensation time constant too large
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions