Siemens SINAMICS S150 NEMA, Operating Instructions Manual, Page: 654 / 862

Functions, monitoring and protective functions
9.4 Extended functions
Enclosed Drives
652
Operating Instructions, 12/2018, A5E36652151A
Commissioning
The "basic positioner" function module can be activated by running the commissioning
Wizard. Parameter r0108.4 indicates whether the function module has been activated.
9.4.7.1 Mechanical system
Description
When mechanical force is transferred between a machine part and its drive, generally
backlash occurs. If the mechanical system was to be adjusted/designed so that there was
absolutely no play, this would result in high wear. Thus, backlash (play) can occur between
the machine component and the encoder. For axes with indirect position sensing,
mechanical backlash results in a falsification of the traversing distance, as, at direction
reversal, the axis travels either too far or not far enough corresponding to the absolute value
of the backlash.
Figure 9-39 Backlash compensation
Note
Boundary conditions for backlash compensation
The backlash compensation is active under the following supplementary conditions:
•
for an incremental measuring system: after the axis has been referenced (homed).
• For an absolute measuring system: after the axis has been adjusted.
In order to compensate the backlash, the determined backlash must be specified in p2583
with the correct polarity. At each direction of rotation reversal, the axis actual value is
corrected dependent on the actual traversing direction and is displayed in r2667. This value
is converted into the actual position value by p2516 (position offset).
If a stationary axis is referenced by setting a reference point or an adjusted axis is activated
with the absolute encoder, the setting of parameter p2604 (reference point approach start
direction) is relevant to activating the compensation value.