Siemens SINAMICS V90 Operating Manual page 61

You can configure backlash compensation on the following panel:
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.
Note
Pre-conditions for backlash compensation
The backlash compensation is active after
• the axis has been referenced for incremental measuring system. Refer to Section "Setting
referencing (Page 55)" for detailed information about referencing.
• the axis has been adjusted for absolute measuring system.
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Operating Manual, 02/2015, A5E32187373-003
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4.2 Parameterizing
61