Starting up
7-27
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Set
Servo enable = ON
No
Yes
END
DB increments, value 3 = e.g. 100 MSR
Set meas. device to zero on ma-
chine component to be positioned
Determine backlash value:
Backlash = increment - measured dist.
Please note:
Repeat of test produces negative backlash val-
ues in cases of overcompensation
Start axis
Read the distance traveled on
measurement device
Set
Activate machine data
Parameterize
MD 31 − Set direction reference of
backlash
Set
Activate machine data
Set
Velocity level 1 = 0.1 v
max
Velocity level 2 = 0.5 v
max
Select
BA = relative incremental
Increment = 3
OVER = 10%
Direction per MD31
Measurement device, e.g. dial gauge
or laser measurement device
Start axis
Direction opposite MD31
Additional testing desired for check-
ing or for averaging?
Additional testing at another location
desired for averaging?
Select
BA = jogging
Speed level 2
OVER = 100%
Start axis
Travel to new measurement position
Check for efficacy of correc-
tion desired?
Parameterize
MD30 Add backlash figure to the
value previously in effect, using the
correct preceding sign
Averaging of all subtotals
No
Yes
No
Yes
Fig. 7-12 Determining backlash and activating backlash compensation
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