UCOMP
ASCII - Command | UCOMP |
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Syntax Transmit | UCOMP [Data] |
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Syntax Receive | UCOMP <Data> | Available in |
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Type | Variable rw | MMI | No | |
ASCII Format | Integer32 | CANBus Object Number | 3631 (hex) | |
DIM | PUNIT | PROFIBUS PNU | 1905 (dec) IND = 0000xxxx (bin) | |
Range | long int | DPR | 305 (dec) | |
Default | 0 |
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Opmode | 8 | Data Type Bus/DPR | Integer32 | |
Drive State | - | Weightning |
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Start Firmware | 2.20 |
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Configuration | No | Revision | 1.3 | |
Function Group | Position Controller | EEPROM | Yes | |
Short Description | Backlash Compensation | |||
Description
For many applications it is necessary to approach motion block positions from one direction only (to avoid backlash errors arising from the interplay of the rack and pinion). To do this, at the start of a motion block the target position for the motion block is shifted by a correction value, and the motion block is only started for the real target value when this corrected position has been reached. The behavior of this function is controlled by the UCOMP parameter. The value of this parameter is the size of the correction, the sign shows the direction in which the correction is to be made. If the sign is positive, the correction is only made for positive velocities (i.e. the target position is always approached from the right), if it is negative, the correction is only made for negative velocities. This function is switched off if UCOMP is set to 0 (default setting). e.g.
- Actual position = 0, target position = 1000, UCOMP = 100 -> the drive moves to position 1100, reverses, and stops at position 1000.
- Actual position = 1000, target position = 0, UCOMP = 100 -> the drive moves directly to position 0
- Actual position = 1000, target position = 0, UCOMP =-100 -> the drive moves to position -100, reverses, and stops at position 0.