Siemens SINUMERIK 840D sl Function Manual page 422

Compensations (K3)
Friction compensation (quadrant error compensation)
Example of characteristic settings
1. Calculate the existing acceleration
2. Entry of characteristic break points
The following values are therefore entered in the machine data in this order:
MD32550 $MA_FRICT_COMP_ACCEL1 [n] (adaptation acceleration value 1) = 0.0011 [m/s
MD32560 $MA_FRICT_COMP_ACCEL2 [n] (adaptation acceleration value 2) = 0.0278 [m/s
MD32570 $MA_FRICT_COMP_ACCEL3 [n] (adaptation acceleration value 3) = 0.695 [m/s
For example, the following values were calculated for the injection amplitudes:
MD32520 $FRICT_COMP_CONST_MAX [n] = 30 [mm/min]
MD32530 $FRICT_COMP_CONST_MIN [n] = 10 [mm/min]
Note
If the results obtained at very low velocities are not satisfactory, then the computational
resolution for linear positions must be increased in machine data:
MD10200 $MA_INT_INCR_ PER_MM (computational resolution for linear positions)
or for angular positions in machine data:
MD10210 $MA_INT_INCR_PER_DEG (computational resultion for angular positions)
See also machine data
MD32580 $MA_FRICT_COMP_INC_FACTOR
(weighting factor of friction compensation value with short traversing movements)
422
The axial acceleration rate is calculated at the zero speed crossing of a circular
movement with formula a = v
With a radius of r = 10 mm and a circular velocity of v = 1 m/min (=16.7 mm/s), the
acceleration rate is thus a = 27.8 mm/s
The following acceleration rates have been calculated as characteristic break points:
a = 1.1 mm/s ; a = 27.8 mm/s
2
1 2
/r.
2
.
2
; a = 695 mm/s
2 2
3
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
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Extended Functions