Commissioning Of Conventional Friction Compensation - Siemens SINUMERIK 840D sl Function Manual

Compensations (K3)
5.6 Friction compensation (quadrant error compensation)
5.6.3

Commissioning of conventional friction compensation

Circularity test
The friction compensation function can be commissioned most easily by means of a
circularity test. Here, deviations from the programmed radius (especially at the quadrant
transitions) can be measured and displayed while traversing a circular contour.
Step-by-step commissioning
The conventional friction compensation function must first be selected.
(MD32490 $MA_FRICT_COMP_MODE=1 (friction compensation method)).
The friction compensation value mainly depends on the machine configuration.
Commissioning is performed in two stages.
● Stage 1: Calculation of the compensation values without adaptation
● Stage 2: Calculation of the adaptation characteristic (if the friction compensation is
dependent on the acceleration and the results of stage 1 are not satisfactory).
Commissioning stage 1: Friction compensation without adaptation
1. Circularity test without friction compensation
A circularity test without friction compensation must be performed first
(MD32500 $MA_FRICT_COMP_ENABLE = 0)
The circularity test procedure is described in Section "Circularity test".
A typical characteristic of quadrant transitions without friction compensation is shown in the
diagram below.
Figure 5-20
398
Uncompensated radius deviation at quadrant transitions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions