Bosch Rexroth IndraDrive MPH-02 Functional Description page 487

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

Backlash on Reversal Correction

By means of the backlash on reversal correction it is possible to correct

play in the mechanical axis system.

Illustration of play with toothed wheels

The function is activated by inputting the play in parameter S-0-0058,

Reversal clearance. The actual position values of the encoder selected

via P-0-0413 are corrected with the value from S-0-0058 (taking the

direction of motion into account).

Positive or negative direction of motion is detected, when

• in the case of position control, the time-related change of position

command value (corresponding to velocity feedforward value in the

case of lagless position control),

• in the case of velocity control, the velocity command value (S-0-0036)

has exceeded the absolute value of the standstill window (S-0-0124) in

positive or negative direction. The standstill window acts as hysteresis!

Axis corr. active correction

value (correction value for

actual position value)

S-0-0124, Standstill window

Fig. 8-32: Operating principle of backlash on reversal correction, hysteresis when

changing direction of motion

Drive Functions

backlash of toothed wheels

causes play in transmission

of rotary motion

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Velocity command value or

position cmd val. difference

Reversal clearance

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