Backlash Compensation - Siemens SINAMICS V90 Operating Instructions Manual

7.2.3

Backlash compensation

Generally, backlash occurs when the mechanical force is transferred between a machine
part and its drive:
If the mechanical system was to be adjusted/designed so that there was absolutely no
backlash, this would result in high wear. Thus, backlash can occur between the machine
component and the encoder. For axes with indirect position sensing, mechanical backlash
results in a false traversing distance because the axis, at direction reversal, travels either too
far or not far enough corresponding to the absolute value of the backlash.
Note
Pre-conditions for backlash compensation
The backlash compensation is active after
• the axis has been referenced for the incremental measuring system. Refer to Section
"Referencing (Page 156)" for detailed information about referencing.
• the axis has been adjusted for the absolute measuring system. Refer to Section
"Adjusting an absolute encoder (Page 146)" for reference.
In order to compensate the backlash, the determined backlash must be specified in p2583
with correct polarity. At each direction of rotation reversal, the axis actual value is corrected
dependent on the actual traversing direction.
If the axis has been referenced or adjusted, the setting of parameter p2604 (reference point
approach, starting direction) is used to activate the compensation value:
p2604
0
1
Parameter settings
Parameter Range
p2583 -200000 to
200000
p2604
1)
When telegram 111 is used, the value of p2604 is assigned by control word POS_STW2.9.
1)
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003
Unit
LU
0 to 1 -
Traversing direction
Negative
Positive
Default
0 Backlash compensation
0 Set signal source for start direction of searching cam:
0: start in positive direction
•
1: start in negative direction
•
Control functions
7.2 Basic positioner (EPOS)
Activate compensation value
Immediately
Immediately
Description
153