Machine data
2.4 Axis-specific machine data
Parameter Manual
234
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
Description:
The adaptation acceleration value is only required if "Friction compensation
with adaptation" (MD32510=1) is active.
The adaptation acceleration values 1 to 3 are interpolation points for defin-
ing the adaptation curve. The adaptation curve is subdivided into 4 ranges,
in each of which a different friction compensation value applies.
For the 1st range (a < MD32550), the add-on amplitude = a * MD32520/ MD32550
MD irrelevant 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
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
32550 FRICT_COMP_ACCEL1 EXP, A09 K3
m/s², rev/s² Adaptation acceleration value 1 DOUBLE NEW CONF
-
-1 0.0 0.0 - 2/2
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