Backlash compensation on gantry rotary axes

Problem:
A gantry group comprises 2 rotary axes.
Backlash compensation of the two axes is eliminated with different traversing directions. As a
result, the table clamped between the rotary axes gets twisted when being swiveled.
The approach direction for referencing the two axes has been set to different values since
otherwise the synchronous axis would have to traverse again nearly 360 degrees.

The following MDs have been set:

Axis 1 Axis 2
MD 32100 AX_MOTION_DIR -1 -1
MD 32450 BACKLASH[0] 0.3 0.3
MD 34010 REFP_CAM_DIR_IS_MINUS 0 1 !!!
MD 34080 REFP_MOVE_DIST[n] -2 2 !!!
MD 34100 REFP_SET_POS[n] 38 -38

Solution:
On account of the differing reference approach direction, the backlash for the two axes is always
displayed at the other edge. Since the backlash compensation refers to the reference point, the
behavior described is the logic result.

MD34100 does not influence the result. It is no solution either to enter a negative compensation
value into the other axes.

To ensure that backlash compensation on gantry axes is effective in the same traversing
direction, the reference point approach directions must be identical for all gantry axes .

Subject to change without prior notice.

 Siemens AG 2005 Page 1 / 1 17.05.2005
Backlash_compensatio_gantry.doc