Siemens SINUMERIK 840D sl Function Manual page 341

Axis-specific machine data
Torque setpoint pulse
Figure 5-24
The numbers (
Acceleration-independent parameters
No. Machine data
①
③
④
Maximum values of the acceleration-dependently adaptable amplitude
No. Machine data
②
Weighting factors for acceleration-dependent adaptation of the maximum value
Machine data
MD32588 $MA_FRICT_ADAPT_T_STEP[ 0 ... 9 ]
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Basic pulse shape
① ②
, , ...) stated in the following tables refer to the figure above.
-
MD32577 $MA_FRICT_T_PULSE_DE‐
LAY_TIME
MD32578
$MA_FRICT_T_PULSE_SMOOTH_TIME
MD32576 $MA_FRICT_TORQUE_STEP
5.9 Friction compensation with adaptive characteristics
Description
Trigger time or acceleration of the axes from stand‐
still
Delay time
Rise time
Description
Amplitude
Description
Weighting factor for the amplitude
K3: Compensations
341