Parameter Manual
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
233
Machine data
2.4 Axis-specific machine data
Description: The minimum friction compensation value is active only if "Friction compensa-
tion with adaptation" (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=1) is active.
The amplitude of the friction compensation value is entered in the 4th accel-
eration range (MD32570 $MA_FRICT_COMP_ACCEL3 <= a).
MD irrelevant for:
MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0
MD32490 $MA_FRICT_COMP_MODE = 2 (neural QEC)
Special cases:
In special cases, the value for FRICT_COMP_CONST_MIN may be even higher than
for MD32520 $MA_FRICT_COMP_CONST_MAX.
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
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
Description: The friction compensation value is entered via a DT1 filter.
The add-on amplitude decays in accordance with the time constant.
MD irrelevant for:
MD32500 $MA_FRICT_COMP_ENABLE = 0
Related to:
MD32500 $MA_FRICT_COMP_ENABLE
Friction compensation active
MD32520 $MA_FRICT_COMP_CONST_MAX
Maximum friction compensation value
32530 FRICT_COMP_CONST_MIN EXP, A09 K3
mm/min, rev/
min
Minimum friction compensation value DOUBLE NEW CONF
-
-1 0.0 - - 2/2
32540 FRICT_COMP_TIME EXP, A09 K3
s Friction compensation time constant DOUBLE NEW CONF
-
-1 0.015 0.0 - 2/2
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