Siemens SINUMERIK Series

K3: Compensations
4.6 Friction compensation (quadrant error compensation)
Extended Functions
288 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
4.6.2 Supplementary conditions
Note
Switch off setpoint-related compensations
The following compensations affect the position setpoint and must be switched off before the
measurement of the axes involved in the circularity test:
• Sag and angularity compensation (CEC):
MD32710 $MA_CEC_ENABLE[ <axis> ] = 0
• Direction-dependent leadscrew error compensation:
MD32710 $MA_CEC_ENABLE[ <axis> ] = 0
• Temperature compensation:
MD32750 $MA_TEMP_COMP_TYPE[ <axis> ] = 0
4.6.3 Friction compensation with a constant compensation value
4.6.3.1 Function activation
Enable
The general enabling of the friction compensation is via:
MD32490 $MA_FRICT_COMP_MODE[ <axis> ] = 1
Activation
The activation of the friction compensation with constant compensation value is via:
● MD32500 FRICT_COMP_ENABLE[ <axis> ] = 1 (friction compensation ON)
● MD32510 $MA_FRICT_COMP_ADAPT_ENABLE[ <axis> ] = 0 (adaptation OFF)
Parameters
The following parameters are calculated for friction compensation with constant
compensation value:
● MD32520 $MA_FRICT_COMP_CONST_MAX (maximum compensation value)
For friction compensation with constant compensation value, the parameterized value is
injected as compensation value.
● MD32540 $MA_FRICT_COMP_TIME (friction compensation time constant)
The compensation value is injected via a DT1 filter. The compensation value decays
according to the parameterized time constants.