Siemens SINUMERIK 840D sl Function Manual page 414

Compensations (K3)
Friction compensation (quadrant error compensation)
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
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
414
= 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)
= 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
(MD32520).
max
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Extended Functions