Function Manual
01/2017
121
If different parameter values result for different radii and path velocities, the best values should be determined via mean
value generation.
Good friction compensation setting
With a good friction compensation setting, "no" contour violations can be detected at the quadrant transitions.
Acceleration-dependent compensation value
If the compensation value proves to be acceleration-dependent, the "friction compensation and adaptation" described below
can be injected in a following step.
Friction compensation with acceleration-dependent compensation value
11.5.4.1
If the compensation value is highly dependent on the acceleration, normally a smaller compensation value must be injected
for optimum compensation with larger accelerations than for smaller accelerations. This dependency can be modeled via the
following adaptation characteristic.
Maximum compensation value
Minimum compensation value
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