Mechanical System - Siemens SINAMICS S120 Function Manual

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– Position-controlled traversing of the axis with the switchable modes "Endless position-

● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the

selection of which automatically establishes the internal "connection" to the basic positioner

● Control using PROFIdrive telegrams 7 and 110

For additional information, see the following manuals:

– "SINAMICS S120 Function Manual Communication" manual, "Cyclical Communication"

– SINAMICS S120/S150 List Manual

Mechanical system

Function description

When mechanical force is transferred between a machine part and its drive, generally backlash

occurs. If the mechanical system was to be adjusted/designed so that there was absolutely no

play, this would result in high wear. Thus, backlash (play) can occur between the machine

component and the encoder. For axes with indirect position sensing, mechanical backlash

results in a falsification of the traversing distance, as, at direction reversal, the axis travels either

too far or not far enough corresponding to the absolute value of the backlash.

The backlash compensation is active with the following settings:

● The axis has been referenced for incremental measuring systems

● The axis has been adjusted for absolute measuring systems

In order to compensate the backlash, the determined backlash must be specified in p2583 with

the correct polarity. At each direction of rotation reversal, the actual axis value is corrected

dependent on the actual traversing direction and displayed in r2667. This value is taken into

account in the actual position value using p2516 (position offset).

Drive functions

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

controlled" or "Incremental jog" (to traverse an "increment")

Backlash compensation

Function modules

9.8 Basic positioner