Siemens SINUMERIK 840D sl Function Manual page 404

Compensations (K3)
5.6 Friction compensation (quadrant error compensation)
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)
404
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions