(number of measuring systems)
MD30200 $MA_NUM_ENCS (number of measuring systems)
MD36500 $MA_ENC_CHANGE_TOL
(maximum tolerance for actual position value changeover)
32457 BACKLASH_DYN_MAX_VELO A09 -
% Limitation of dynamic backlash compensation value change DOUBLE NEW CONF
-
- - 1.0 - - 1/1
Description: Relative velocity at which a dynamic backlash compensation value is retracted.
Limitation of compensation value change. This is entered as percentage of MD32000
$MA_MAX_AX_VELO.
Corresponds to:
MD32456 $MA_BACKLASH_DYN
(compensation value of dynamic backlash compensation)
MD32000 $MA_MAX_AX_VELO
(maximum axis velocity)
32490 FRICT_COMP_MODE A09 K3
- Type of friction compensation BYTE PowerOn
-
- 1 1 0 4 2/2
Description: 0: No friction compensation
1: Friction compensation with constant injected value or adaptive characteristic
2: Friction compensation with learned characteristic via neural network
3: Friction compensation with adaptive characteristics, injection time depends on
velocity setpoint
4: Friction compensation with adaptive characteristics, injection time depends on
position controller output
Not relevant for:
MD32500 $MA_FRICT_COMP_ENABLE = 0
Modes 1 and 2 related to:
MD32490 $MA_FRICT_COMP_MODE
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE
MD32520 $MA_FRICT_COMP_CONST_MAX
MD32540 $MA_FRICT_COMP_TIME
Modes 3 and 4 related to:
32500 FRICT_COMP_ENABLE A09 K3, G2
- Friction compensation active BOOLEAN NEW CONF
-
- - FALSE 0 - 2/2
Description: 1: Friction compensation is enabled for this axis.
The corresponding friction compensation is active as function of the setting of
MD32490 $MA_FRICT_COMP_MODE.
In the case of neural QEC, the machine data should not be set to "1" until a valid
characteristic has been "learnt".
During the learning stage, the compensation values are added on independently of the
contents of this machine data.
0: Friction compensation is not enabled for this axis.
Machine data
3.4 Axis-specific machine data
Parameter Manual
242 Parameter Manual, 08/2015, 6FC5397-8EP40-0BA1
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