Quick Commissioning - Siemens SINUMERIK 840D sl Function Manual

5.6.3.6

Quick commissioning

Preparation for "Learning"
● Calculate the optimum friction compensation time constant
● Enter the following machine data without power ON:
Machine data
MD19330 NC-CODE_CONF_NAME_TAB[8]
MD19300 COMP_MASK
MD32490 $MA_FRIC_COMP_MODE (friction
compensation method)
MD32500 $MA_FRIC_COMP_ENABLE
(friction compensation active)
MD32580 $MA_FRIC_COMP_INC_FACTOR
(weighting factor friction compensation value
with short traversing movements)
MD38010 $MA_MM_QEC_MAX_POINTS
(number of values for quadrant-error
compensation with neural network)
MD32620 $MA_FFW_MODE (feedforward
control mode)
MD32610 $MA_VELO_FFW_WEIGHT
(feedforward control factor for speed)
MD32630 $MA_FFW_ACTIVATION_MODE
(activate feedforward control from program)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
(equivalent time constant speed control loop
for feedforward control)
* t_position ... position control cycle (=basic system cycle * factor for position control cycle),
n_setSm. ... speed setpoint smoothing (MD1500 to 1521)
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
(MD32540 $MA_FRICT_COMP_TIME (backlash)) with the conventional friction
compensation.
5.6 Friction compensation (quadrant error compensation)
Standard Change to
0
0
1 2
0 0
0 0
0 400
1 1
1 1
1 0
0.004 Initial value
t_pos +
n_setSm.*
K3: Compensation
Meaning
Activate option "IPO_FUNKTION_MASK".
Only with learn program "Polynomial"! Bit4
= 1
Set option
"Type of friction compensation" neural QEC
"Friction compensation active" for learning
"OFF"
"Weighting factor of friction compensation
value for short traversing motions" (mm
increments)
"Selection of values for QEC" =
$AA_QEC_FINE_STEPS *
($AA_QEC_COARSE_STEPS + 1)
Speed feedforward control
Injection 100%
Feedforward control ON continuously
Adjust equivalent time constant n control
loop
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