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, when the axis is
operated in a process that the traversing direction is reversed between the positive direction
and negative direction alternately, the mechanical backlash results in a false traversing
distance because the axis travels either too far or not far enough.
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 177)" for detailed information about referencing.
• the axis has been adjusted for the absolute measuring system. Refer to Section
"Adjusting an absolute encoder (Page 158)" 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
-200000 to
p2583
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, 04/2020, A5E37208830-008
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
173