Backlash Compensation
Description
By setting backlash compensation, you can compensate for mechanical backlash.
Example of mechanical backlash
1 Example of low mechanical backlash
2 Example of high mechanical backlash
When backlash compensation is activated, the drive automatically compensates for the mechanical backlash during each movement.
Availability
Backlash compensation is possible in the following operating modes:
-
Jog
-
Homing
-
Cyclic Synchronous Position
Parameterization
To use backlash compensation, you must set the amount of backlash.
The parameter BLSH_Position lets you set the amount of backlash in user-defined units.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Position value for backlash compensation. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become active the next time the power stage is enabled. |
usr_p 0 0 2147483647 |
INT32 R/W per. - |
Modbus 1668 IDN P-0-3006.0.66 |
In addition, you can set a processing time. The processing time specifies the period of time during which the mechanical backlash is to be compensated for.
The parameter BLSH_Time lets you set the processing time in ms.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Processing time for backlash compensation. Value 0: Immediate backlash compensation Value >0: Processing time for backlash compensation Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become active the next time the power stage is enabled. |
ms 0 0 16383 |
UINT16 R/W per. - |
Modbus 1672 IDN P-0-3006.0.68 |
Activating Backlash Compensation
Before you can activate backlash compensation, there must be a movement in positive or negative direction. Backlash compensation is activated with the parameter BLSH_Mode.
-
Start a movement in positive direction or in negative direction. This movement must last as long as it takes to move the mechanical system connected to the motor.
-
If the movement was in positive direction (positive target values), activate backlash compensation with the value "OnAfterPositiveMovement".
-
If the movement was in negative direction (negative target values), activate backlash compensation with the value "OnAfterNegativeMovement".
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Processing mode of backlash compensation. 0 / Off: Backlash compensation is off 1 / OnAfterPositiveMovement: Backlash compensation is on, last movement was in positive direction 2 / OnAfterNegativeMovement: Backlash compensation is on, last movement was in negative direction Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active immediately. |
- 0 0 2 |
UINT16 R/W per. - |
Modbus 1666 IDN P-0-3006.0.65 |