Parameter Manual
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
235
Machine data
2.4 Axis-specific machine data
Description: The adaptation acceleration value is only required if "Friction compensation
with adaptation" (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=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 ampli-
tude = MD32520 * (a/MD32550).
In the 2nd acceleration range (MD32550 <= a <= MD32560), the switching ampli-
tude = MD32520.
In the 3rd acceleration range (MD32560 < a < MD32570), the switching ampli-
tude = MD32520 + (MD32530-MD32520)/(MD32570-MD32560) * (a - MD32560).
In the 4th acceleration range (MD32570 <= a ), the switching ampli-
tude = 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
32560 FRICT_COMP_ACCEL2 EXP, A09 K3
m/s², rev/s² Adaptation acceleration value 2 DOUBLE NEW CONF
-
-1 0.0 0.0 - 2/2
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