Friction Compensation With Acceleration-Dependent Compensation Value; Description Of Functions - Siemens SINUMERIK Series Function Manual

K3: Compensations
4.6 Friction compensation (quadrant error compensation)
4.6.4

Friction compensation with acceleration-dependent compensation value

4.6.4.1

Description of functions

If the compensation value is highly dependent on the acceleration, normally a smaller
compensation value must be injected for optimum compensation with larger accelerations
than for smaller accelerations. This dependency can be modeled via the following adaptation
characteristic.
Δn
Δn
a
1
a
2
a
3
Bn
with:
The compensation value Δn is calculated according to the respective acceleration range B1
to B4 as follows:
294
Maximum compensation value
max
Minimum compensation value
min
Acceleration value 1
Acceleration value 2
Acceleration value 3
Acceleration range with n = 1, 2, ... 4
Accelerations: a
Compensation values: Δn
Range With acceleration a
B1 a < a
B2 a ≤ a ≤ a
1
B3 a < a < a
2
B4 a ≥ a
< a < a
1 2 3
> Δn , in special cases also Δn
max min
⇒ Compensation value Δn
Δn = Δn
1 max
Δn = Δn
2 max
Δn = Δn
3 max
Δn = Δn
3 min
< Δn
max
* a / a
1
+ [(Δn - Δn ) / (a - a
min max 3
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
min
)] * (a - a )
2 2
Extended Functions