Weighting Factor For Backlash; Applying The Backlash Compensation Step-By-Step - Siemens SINUMERIK 840D sl Function Manual

K3: Compensation
5.3 Backlash compensation
5.3.2.2

Weighting factor for backlash

MD32452
The backlash can be weighted by a factor dependent on the particular parameter set.
This weighting factor is set to between 0.01 and 100.0 in the following machine data:
MD32452 $MA_BACKLASH_FACTOR (backlash weighting factor)
The factory default setting is 1.0.
Application: e.g. compensation of gear-stage-dependent backlash.
5.3.2.3

Applying the backlash compensation step-by-step

MD36500
The user has the option of applying the backlash compensation value gradually in several
increments when the relevant axis reverses direction. This prevents a setpoint step change
on the axes from causing corresponding errors.
The contents of the following axis-specific machine data determine the increment with which
the backlash compensation value (MD32450) is applied.
MD36500 $MA_ENC_CHANGE_TOL (max. tolerance on position actual value switchover)
Please note that the backlash compensation is only fully calculated after <n> servo cycles
(<n> = MD32450 / MD36500). An excessive time span can cause the triggering of a zero
speed monitoring alarm.
If MD36500 > MD32450, then the compensation is performed in one servo cycle.
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Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions