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This function performs compensation for mechanically-based position deviations.

Examples of compensating for mechanically-based position deviations:

•Spindle pitch error and backlash compensation

•Encoder scale correction

Depending on whether the error to be compensated depends on the direction or not, one or two data sets with the measured deviations are necessary.

Deviations between the position setpoint and mechanical position are recorded at several locations with a high-precision measuring instrument (e.g. laser). The lists containing the positions and deviations are passed to the function block as addresses (Parameters.DirectionIndependent.CompData).

The existence of mechanical play / backlash makes it necessary to carry out measurements once in the positive direction of movement and once in the negative direction of movement. The lists containing the positions and deviations are passed to the function block as addresses (Parameters.DirectionDependent.CompDataPos, .CompDataNeg).

The function block calculates the compensation data from the specified positions and deviations and transfers them to the drive. A function is enabled on the drive that incorporates this compensation data into the position controller and, in modes mcDIR_INDEPENDENT_SPEED and mcDIR_INDEPENDENT_SPEED_AX_POS, also into the speed controller.

Information:

Enabling compensation may result in a sudden change in the actual position.

It is recommended to enable compensation while the controller is switched off.