Siemens SINUMERIK 840D sl Function Manual page 415

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
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.
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
dependent on the acceleration and the results of stage 1 are not satisfactory).
Friction compensation (quadrant error compensation)
Compensations (K3)
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