Mechanical System - Siemens SINAMICS S150 Operating Instructions Manual

Functions, monitoring, and protective functions
9.4 Extended functions
9.4.6.1

Mechanical system

Description
Figure 9-21
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.
Note
The backlash compensation is active, after
• 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 axis actual value is
corrected dependent on the actual traversing direction and is displayed in r2667. This value
is converted into the actual position value by p2516 (position offset).
If a stationary axis is referenced by setting a reference point or an adjusted axis is activated
with the absolute value encoder, the setting of parameter p2604 (search for reference start
direction) is relevant to activating the compensation value.
Table 9-9
366
Backlash compensation
Activation of compensation value depending on p2604
p2604 (start direction)
0
1
Travel direction
positive
negative
positive
negative
Operating Instructions, 07/07, A5E00288214A
Activation of the compensation
value
None
immediately
immediately
None
Drive converter cabinet units