July 2013 6.14 Commissioning 1047
Step 6: Compensate the backlash
If the cause of the backlash is outside of the control loop:
Enter the backlash in MP710.x.
If the cause of the backlash is inside of the control loop:
Enter the following test program:
LBL 1
L X100 R0 F10
L X0
CALL LBL 1 REP 100/100
Use the internal oscilloscope to record V ACTUAL and V (ACT RPM). At the
reversal point the actual feed rate follows the actual shaft speed by the time
delay t.
Set the machine parameters:
• MP750 = t · ΔV ACTUAL (keep in mind the units for t and ΔV ACTUAL)
• MP752 = approx. 20 ms (determined in test)
ΔV ACTUAL = ⏐V ACTUAL – V (ACT RPM)⏐
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