Siemens SINUMERIK 828D Commissioning Manual

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6.7.6 Friction compensation with torque injection pulse
Parameterizing machine data
The following axis machine data must be parameterized in order to use an acceleration-
dependent torque injection pulse also for friction compensation:
Designation Unit Machine data
Acceleration-dependent amplitude of the
torque injection pulse
--- MD32576 $MA_FRICT_TORQUE_STEP
Delay time of the torque injection pulse [s] MD32577 $MA_FRICT_T_PULSE_DE‐
LAY_TIME
Ramp-up time of the torque injection pulse [s] MD32578
$MA_FRICT_T_PULSE_SMOOTH_TIME
Weighting factor for the amplitude of the
torque injection pulse
--- MD32588 $MA_FRICT_T_STEP[0...9]
Tuning
6.7 Friction compensation with adaptive characteristics
CNC commissioning
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3 221

Siemens SINUMERIK 828D Specifications

General

Control Type	CNC
Operating System	Windows Embedded
Processor	Intel Atom
Display	10.4" color TFT display
Interfaces	Ethernet, USB
Programming	ShopMill, ShopTurn
Operation Panel Size	10.4"
Protection Class	IP65
PLC Memory	2 MB
Spindle Capacity	4 spindles
Hard Drive	CompactFlash