Backlash Compensation - Siemens SIMATIC S5 Manual
Positioning module
1p 247
for stepper motors
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Also See for SIMATIC S5:
- Manual (396 pages) ,
- Equipment manual (197 pages) ,
- Operating instructions manual (43 pages)
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Example:
Pulses/revolutions = 400 (half step mode)
Positioning resolution = 4 mdeg
Traversing range = 360,000 mdeg
Traversing range
pulses/rev. xpos. res.
Example of a rotary axis
A round table is divided into 360 degrees. The start of the range is at O degrees, and the end of
the range at 360 degrees. O and 360 degrees are the same point on the round table and can both
be specified as the target coordinate.
When using degrees, the traversing range is not necessarily from O degrees to 360 degrees. It
may, e.g. be from 400 degrees to 800 degrees. The only restrictions are the numerical range of
the individual parameters and the rule that the coordinate for the start of the range must be
smaller than the coordinate for the end of the range.
2.5.3.9
Backlash Compensation
The backlash compensation value is used to compensate mechnical backlash (play in the drive).
If there is backlash greater than zero, there is a discrepancy between the detected actual value
and the real distance travelled whenever the direction is reversed. The actual value of the axis
position is displaced by the amount of the backlash. Using the backlash compensation parame-
ter, this error can be adjusted, providing the backlash is measured exactly. Whenever the direc-
tion is changed, the positioning module includes the backlash in the distance to be travelled and
therefore eliminates the backlash of the mechanical equipment. Since the actual position of the
axis does not change until the backlash has been taken up when the direction is reversed, the ac-
tual value also remains unchanged in this area, although the motor is turning.
Machine Data and their Structure
2 - 1 9
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