Parameters

P-AXIS-00021	Selection and type of mechanical backlash
Parameter	lr_param.anwahl_losekomp
Description	0 No backlash compensation 1 Backlash compensation activated Last travel direction on commissioning was in the positive direction 2 Backlash compensation activated Last travel direction on commissioning was in the negative direction
Data type	UNS16
Data range	0 = P-AXIS-00021 = 2
Dimension	Translatory: -	Rotatory: -
Default	0
Remarks	For measurement systems with encoders that return absolute measurements, when activating backlash compensation you must take into consideration the last travel direction on commissioning because this influence correction of the moving machine part's actual position. The value for the selection of backlash compensation must be chosen accordingly. This dependence does not exist for measurement systems that return relative measurements. This is why the values 1 and 2 have the same meaning when backlash compensation is selected as when the backlash selection is activated.

P-AXIS-00103	Amount of mechanical backlash
Parameters	getriebe[i].lose
Description	getriebe[i].lose < 0 Negative backlash, backlash between the moving machine part and the actual value encoder getriebe[i].lose = 0 No backlash defined getriebe[i].lose > 0 Positive backlash, backlash between the drive and the moving machine part
Data type	SGN16
Data range	MIN(SGN16) = P-AXIS-00103 = MAX(SGN16)
Dimension	Translatory: 0.1µm	Rotatory: 0.0001°
Default	0
Remarks	-

P-AXIS-00243	Distribution of mechanical backlash
Parameter	lr_param.n_backlash_cyc
Description	Distribution of the backlash on a number ofpositions control cycles.The distribution is done according to a sin² function. 0 or 1: Output of the backlash to the drive is done abruptly within one cycle. >1: Distribution according to thesin² function.
Data type	UNS16
Data range	0 < P-AXIS-00243 < 100
Dimension	Translatory: -	Rotatory: -
Default	0
Remarks	The use of this feature avoids increasing errors at the workpiece, because for large backlash the machine exitation is reduced. The parameter is also used for a bilateral leadscrew error compensation, if a change of direction is executed.