Adaptation acceleration values 1 to 3 are interpolation points for defining the
adaptation curve. The adaptation curve is subdivided into 4 ranges, in each of which
a different friction compensation value applies.
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).
In the 4th acceleration range (MD32570 <= a ), the switching amplitude =
MD32530.
Not relevant for:
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0
MD32490 $MA_FRICT_COMP_MODE = 2
Related to:
MD32500 $MA_FRICT_COMP_ENABLE
Friction compensation active
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE
Friction compensation adaptation 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
MD32570 $MA_FRICT_COMP_ACCEL3
Adaptation acceleration value 3
MD32540 $MA_FRICT_COMP_TIME
Friction compensation time constant
32570 FRICT_COMP_ACCEL3 EXP, A09 K3
m/s², rev/s² Adaptation acceleration value 3 DOUBLE NEW CONF
-
- 1 0.0 0.0 - 2/2
Description: The adaptation acceleration value is only required if "Friction compensation with
adaptation" (MD32510=1) is active.
Adaptation acceleration values 1 to 3 are interpolation points for defining the
adaptation curve. The adaptation curve is subdivided into 4 ranges, in each of which
a different friction compensation value applies.
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).
In the 4th acceleration range (MD32570 <= a ), the switching amplitude =
MD32530.
Not relevant for:
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0
MD32490 $MA_FRICT_COMP_MODE = 2
Related to:
MD32500 $MA_FRICT_COMP_ENABLE
Machine data
3.4 Axis-specific machine data
Parameter Manual
246 Parameter Manual, 08/2015, 6FC5397-8EP40-0BA1
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