Siemens SINUMERIK 840Di Function Manual page 433

Example
Effects of various parameter sets with backlash compensation:
MD32450 $MA_BACKLASH[AX1]
MD32452 $MA_BACKLASH_FACTOR[0,AX1]
MD32452 $MA_BACKLASH_FACTOR[1,AX1]
MD32452 $MA_BACKLASH_FACTOR[2,AX1]
MD32452 $MA_BACKLASH_FACTOR[3,AX1]
MD32452 $MA_BACKLASH_FACTOR[4,AX1]
MD32452 $MA_BACKLASH_FACTOR[5,AX1]
In parameter set 1 (index 0) of the first axis (AX1), a backlash compensation factor with the
value 1.0 has the following effect:
1.0 * MD32450 = 0.01 mm (or inch or degrees)
The backlash compensation is twice as large in parameter set 2, three times as large in
parameter set 3, etc.
The maximum value is 100.
Supplementary conditions
The functional expansion is available for all control variants.
Control response on POWER ON, RESET, REPOS
The new or modified data are activated via the "Enable machine data" soft key or by a
RESET or POWER ON. Mode switchover, block search or REPOS have no influence.
2.5 Optimization of the control
2.5
2.5.1 Position controller: injection of positional deviation
Application
The stability and positioning response of axes with a low natural frequency (up to approx.
20 Hz) and a mechanical design capable of generating oscillations is improved by active
oscillation damping with simultaneous use of the feedforward control.
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Detailed Description
2.5 Optimization of the control
= 0.01
= 1.0 Parameter set 1
= 2.0 Parameter set 2
= 3.0 Parameter set 3
= 4.0 Parameter set 4
= 5.0 Parameter set 5
= 6.0 Parameter set 6
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