K3: Compensations
4.6 Friction compensation (quadrant error compensation)
Extended Functions
296 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Compensation values
The compensation values Δn
min
, Δn
max
determined as characteristic parameters must be
entered in the following machine data:
● MD32520 $MA_FRICT_COMP_CONST_MAX (maximum compensation value)
● MD32530 $MA_FRICT_COMP_CONST_MIN (minimum compensation value)
Note
If satisfactory results cannot be obtained for very small path velocities, the computational
resolution may have to be increased:
• MD10200 $MA_INT_INCR_ PER_MM (computational resolution for linear positions)
• MD10210 $MA_INT_INCR_PER_DEG (computational resolution for angular positions)
4.6.5 Compensation value for short traversing blocks
The compensation value determined for the quadrant error compensation can lead to
overcompensation in short traversing blocks. The overcompensation can be avoided by
reducing the compensation value specifically for traversing blocks that are traversed within
one interpolation cycle. However, the size of the reduction is a value that must be
determined empirically as it depends to a large extent for every axis on the particular
situation at the machine. A percentage of the compensation value determined in the
circularity test is set via the machine data:
MD32580 $MA_FRICT_COMP_INC_FACTOR (compensation value for short traversing
blocks)
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