Control functions
7.5 Internal position control (IPos)
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
241
In order to compensate the backlash, the determined backlash must be specified in p2583
with correct polarity. At each direction of rotation reversal, the axis actual value is corrected
dependent on the actual traversing direction.
If the axis has been referenced or adjusted, the setting of parameter p2604 (reference point
approach, starting direction) is used to activate the compensation value.
p2604
Traversing direction
Activate compensation value
0
Negative
Immediately
1
Positive
Immediately
Parameter settings
Parameter
Range
Default
Unit
Description
p2583
-200000 to
200000
0
LU
Backlash compensation
p2604
0 to 1
0
-
Set signal source for start direction of
searching cam:
•
0: start in positive direction
•
1: start in negative direction
7.5.6
Referencing
Referencing modes
If the servo motor has an incremental encoder, totally five referencing modes are available:
●
Setting reference point with the digital input signal REF
●
External reference cam (signal REF) and encoder zero mark
●
Encoder zero mark only
●
External reference cam (signal CWL) and encoder zero mark
●
External reference cam (signal CCWL) and encoder zero mark
If the servo motor has an absolute encoder, the five referencing modes are available. You
can also adjust the absolute encoder (by setting current position as the zero position) with
the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 207)" for
details.
