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01.99
06.04
! not 611ue !
Table 6-23
Parameters for backlash compensation
No.
Name
0201
Backlash compensation
... switches the backlash compensation in/out, and defines the absolute backlash amount for a
positive or negative backlash.
= 0
The backlash (play) compensation is disabled
> 0
Positive play (standard situation)
For a direction of rotation reversal, the encoder actual value leads the actual value
(table). The table does not travel far enough.
< 0
Negative play
The actual value (table) leads the encoder actual value at direction reversal. The
table travels too far.
Note:
S
Reference point approach: When is the compensation value switched–in?
When the zero mark is detected, backlash compensation is activated, only for P0173 = 1 (no
reference cams).
If the axis continues to move
– in the same direction after the reference point approach ––> then a compensation value
is not entered
– in the opposite direction ––> the compensation value is entered when the velocity set-
point reverses
S
Reference point setting: When is the compensation value switched–in?
The behavior when first traversing after the "Set reference point" in the positive or negative
direction depends on the setting "Reference point approach – plus/minus" (P0166).
P0166
0
Traversing in the pos. direction ––> a comp. value is not entered
Traversing in the neg. direction ––> comp. value is immediately entered
1
Traversing in the pos. direction ––> comp. value is immediately entered
Traversing in the neg. direction ––> a comp. value is not entered
= 1 ––> Negative direction
= 0 ––> Positive direction
If the reference point is simply set again (new command, with and without withdrawing the bit
"axis is referenced"), then for backlash compensation, the system acts as if the reference
point was not set again.
The behavior mentioned above is only seen after power–on or POWER–ON RESET!
S
Absolute value encoder adjusted: When is the compensation value switched–in?
The behavior when first traversing after power–on, depends on the setting for "reference
cams – with/without" (P0173) and "Direction reference point approach – positive/negative"
(P0166).
The following applies:
P0173
P0166
0
0
0
1
1
0
1
1
= 1 ––> Negative direction
= 0 ––> Positive direction
= 1 ––> No reference cams used
= 0 ––> Reference cams used
E Siemens AG 2005 All Rights Reserved
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
6.2
Positioning mode (P0700 = 3, from SW 2.1)
Min.
–20 000
0
Traversing in the pos. direction ––> comp. value is immediately entered
Traversing in the neg. direction ––> a comp. value is not entered
Traversing in the pos. direction ––> comp. value is not entered
Traversing in the neg. direction ––> a comp. value is immediately entered
Traversing in the pos. direction ––> comp. value is not entered
Traversing in the neg. direction ––> a comp. value is immediately entered
Traversing in the pos. direction ––> comp. value is immediately entered
Traversing in the neg. direction ––> a comp. value is not entered
6 Description of the Functions
Standard
Max.
20 000
MSR
Units
Effective
Immedi-
ately
6-377
6
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