July 2013 6.4 Axis-error compensation 649
Acceleration-
dependent
backlash
compensation
In the backlash compensation, the time in which the distance to be
compensated should be traversed is entered in MP709.x. The time entered is
a fixed value and is used independently of axis acceleration.
Acceleration-dependent backlash compensation that is entered in machine
parameter MP708.x is a different feature. It reduces the following error after
direction reversal that is independent of speed, acceleration and the traversed
contour path. In acceleration-dependent backlash compensation, you define a
distance within which the backlash is compensated. The resulting duration for
backlash compensation therefore depends on the current acceleration.
Backlash compensation takes longer at low than at high acceleration.
In the machine parameter MP708.x, you enter the distance within which the
backlash is to be compensated. You also need to enter the backlash in
MP710.x or in the compensation table for variable backlash. In MP709.x, you
need to enter the value 0 to activate acceleration-dependent backlash
compensation.
MP708.x is adjusted by incrementally changing the machine parameter value
in the circular interpolation test (reversal spikes).
If you are using a non-linear axis-error compensation table or KinematicsComp,
you should use machine parameter MP709.x instead of MP708.x.
The compensation values for backlash and static friction can be calculated
dynamically depending on the acceleration, or by using fixed time constants.
The new parameter MP2690 can be used to prevent the compensation values
from changing too rapidly at very high acceleration. A minimum time constant
is entered to limit the bandwidth of the change of the compensation values.
Acceleration-dependent backlash compensation
Enter the backlash in MP710.x.
Enter the input value 0 in MP709.x.
In MP708.x, enter the traverse distance within which the backlash is to be
compensated.
MP710.x Backlash compensation
Input: –9.9999 to +9.9999 [mm] or [°]
MP709.x Time constant for backlash compensation
Input: 0: Previous behavior of MP710.x or MP708.x is active
1 to 1000 [ms]
MP708.x Traverse distance for acceleration-dependent backlash
compensation
Input: 0: Function inactive
0.0001 to 1.000 [mm]
MP2690.x Band limitation of the compensation values
Input: 0.0001 to 1.0000 [seconds]
0 = Not active
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