Parameter Manual
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
229
Machine data
2.4 Axis-specific machine data
Description: Compensation value for dynamic backlash compensation value
The entry of the compensation value is
• positive if the encoder leading the machine part (normal case)
• negative if the encoder is following the machine part.
Backlash compensation becomes ineffective if 0 is entered.
The dynamic backlash compensation can only be activated after the reference
point approach. Activation takes place via PLC user interface signals.
Special cases:
A separate compensation value must be entered for each measuring system.
Corresponds to:
MD32457 $MA_BACKLASH_DYN_MAX_VELO
(limitation of the compensation value change)
MD32000 $MA_MAX_AX_VELO
(maximum axis velocity)
MD30200 $MA_NUM_ENCS
(number of measuring systems)
MD30200 $MA_NUM_ENCS (number of measuring systems)
MD36500 $MA_ENC_CHANGE_TOL
(maximum tolerance for actual position value changeover)
Description: Relative velocity at which a dynamic backlash compensation value is
retracted. Limitation of compensation value change. This is entered as per-
centage of MD32000 $MA_MAX_AX_VELO.
Corresponds to:
MD32456 $MA_BACKLASH_DYN
(compensation value of dynamic backlash compensation)
MD32000 $MA_MAX_AX_VELO
(maximum axis velocity)
Description: 0: No friction compensation
1: Friction compensation with constant injection value or adaptive charac-
teristic
2: Friction compensation with learned characteristic via neural network
3: reserved
4: reserved
32456 BACKLASH_DYN A09 -
mm, degrees Compensation value of dynamic backlash compensation DOUBLE NEW CONF
-
- 2 0.0, 0.0 - - 1/1
32457 BACKLASH_DYN_MAX_VELO A09 -
% Limitation of dynamic backlash compensation value change DOUBLE NEW CONF
-
-- 1.0 - - 1/1
32490 FRICT_COMP_MODE A09 K3
- Type of friction compensation BYTE PowerOn
-
-1 1 0 4 2/2
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