Siemens SINUMERIK 840D sl Function Manual page 411

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Friction compensation (quadrant error compensation)

General information

Friction occurs predominantly in the gearing and guideways. Static friction is especially

noticeable in the machine axes. Because it takes a greater force to initiate a movement

(breakaway) than to continue it, a greater following error occurs at the beginning of a

The same phenomenon occurs on a change of direction where static friction causes a jump

in frictional force. If, for example, one axis is accelerated from a negative to a positive

velocity, it sticks for a short time as the velocity passes through zero because of the

changing friction conditions. With interpolating axes, changing friction conditions can cause

contour errors.

Quadrant errors

This behavior is particularly apparent on circular contours on which one axis is moving at

maximum path velocity and the other is stationary at quadrant transitions. With the aid of

friction compensation these so-called "quadrant errors" can be almost completely eliminated.

General procedure

Measurements on machines have shown that contour errors caused by static friction can be

effectively compensated by the injection of an additional setpoint pulse with the correct sign

and amplitude.

Extended Functions

Function Manual, 03/2009, 6FC5397-1BP10-4BA0

Friction compensation (quadrant error compensation)

Compensations (K3)

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Sinumerik 840de sl