Thus, no friction compensation values are entered.
Related to:
MD32490 $MA_FRICT_COMP_MODE
32510 FRICT_COMP_ADAPT_ENABLE EXP, A09 K3
- Adaptation friction compensation active BOOLEAN NEW CONF
-
- 1 FALSE 0 - 2/2
Description: 1: Friction compensation with amplitude adaptation is enabled for the axis. Quadrant
errors on circular contours can be compensated with friction compensation.
The amplitude of the friction compensation value required to be added on is frequently
not constant over the entire acceleration range. That is, a lower compensation value
needs to be entered for optimum friction compensation for higher accelerations than
for lower accelerations.
The parameters of the adaptation curve have to be determined, and entered in the
machine data.
0: Friction compensation with amplitude adaptation is not enabled for the axis.
MD irrelevant for:
MD32500 $MA_FRICT_COMP_ENABLE = 0
MD32490 $MA_FRICT_COMP_MODE = 2
Related to:
MD32500 $MA_FRICT_COMP_ENABLE
Friction compensation active
MD32520 $MA_FRICT_COMP_CONST_MAX
Maximum friction compensation value
MD32530 $MA_FRICT_COMP_CONST_MIN
Minimum friction compensation value
MD32550 $MA_FRICT_COMP_ACCEL1
Adaptation acceleration value 1
MD32560 $MA_FRICT_COMP_ACCEL2
Adaptation acceleration value 2
MD32570 $MA_FRICT_COMP_ACCEL3
Adaptation acceleration value 3
MD32540 $MA_FRICT_COMP_TIME
Friction compensation time constant
32520 FRICT_COMP_CONST_MAX EXP, A09 K3
mm/min, rev/min Maximum friction compensation value DOUBLE NEW CONF
-
- 1 0.0 - - 2/2
Description: If adaptation is inactive (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=0), the maximum
friction compensation is applied throughout the entire acceleration range.
If adaptation is active (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=1), the maximum friction
compensation is applied in accordance with the adaptation curve.
In the 1st acceleration range ( a < MD32550), the switching amplitude =
MD32520 * (a/MD32550).
In the 2nd acceleration range (MD32550 <= a <= MD32560), the switching amplitude =
MD32520.
In the 3rd acceleration range (MD32560 < a < MD32570), the switching amplitude =
MD32520 + (MD32530-MD32520)/(MD32570-MD32560) * (a - MD32560).
Machine data
3.4 Axis-specific machine data
Parameter Manual
Parameter Manual, 08/2015, 6FC5397-8EP40-0BA1 243
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