K3: Compensations
4.3 Backlash compensation
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
233
4.3.1.2 Commissioning
Backlash
The mechanical backlash is measured at high velocity with a measuring system attached to
the machine table.
The determined offset value is entered in the axis-specific machine data:
MD32450 $MA_BACKLASH (backlash)
For positive backlash (normal case), the compensation value should be entered as a positive
value and for a negative backlash, as negative value.
After activation of the machine data (NewConfig), the measurement is repeated and the
effect of the mechanical backlash compensation checked.
Note
The circularity test integrated in the HMI can be used to visualize the error.
2nd measuring system
If there is a 2nd measuring system for the axis/spindle, a backlash compensation must be
entered for this too. As the second measuring system is mounted in a different way from the
first measuring system, the backlash can be different from that of the first measuring system.
When the measuring system is switched over the associated compensation value is always
automatically activated.
Weighting factor for backlash
The backlash can be weighted by a factor dependent on the particular parameter set:
MD32452 $MA_BACKLASH_FACTOR (backlash weighting factor)
Value range: 0.01 ... 100.0
Preset: 1.0
Application: e.g. compensation of gear-stage-dependent backlash.
Maximum tolerance for position actual value switchover
The user has the option of applying the backlash compensation value gradually in several
increments when the relevant axis reverses direction. This prevents a setpoint step change
on the axes from causing corresponding errors.
The contents of the following axis-specific machine data determine the increment with which
the backlash compensation value (MD32450) is applied.
MD36500 $MA_ENC_CHANGE_TOL (Max. tolerance on position actual value switchover)
Please note that the backlash compensation is only fully calculated after <n> servo cycles
(<n> = MD32450 / MD36500). An excessive time span can cause the triggering of a
standstill monitoring alarm. If MD36500 > MD32450, then the compensation is performed in
one servo cycle.
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