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6 Description of the Functions
6.2
Positioning mode (P0700 = 3, from SW 2.1)
Backlash
compensation
P0201
Table
Ï Ï
Ï Ï Ï Ï Ï
M
G
Ï Ï
Ï Ï Ï Ï Ï
The encoder actual value leads the actual
value (table) at direction reversal.
––> the table doesn't travel far enough
––> positive backlash (standard case)
Fig. 6-14 Positive and negative backlash compensation
6-376
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 re-
sult 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 abso-
lute value of the backlash.
Note
The backlash compensation is active, after
S
the axis has been referenced for incremental measuring systems
S
the axis has been adjusted for absolute measuring systems
In order to compensate the backlash, the determined backlash must be
specified in P0201 with the correct polarity.
At each direction of rotation reversal, the axis actual value is corrected
dependent on the actual traversing direction.
M: Motor
G: Encoders
Backlash
Ï Ï Ï
M
Ï Ï Ï
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Table
Ë Ë Ë Ë Ë Ë Ë Ë Ë
Ë Ë Ë Ë Ë Ë Ë Ë Ë
Ï Ï Ï
Ï Ï Ï
The actual value (table) leads the encoder
actual value at a direction of rotation reversal.
––> the table travels too far
––> negative backlash
E Siemens AG 2005 All Rights Reserved
01.99
! not 611ue !
Backlash
Rack
G
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