Hello everyone,

I'm looking here for some feedback, from motion control specialist.

Technological objects in TIA Portal V20 features backlash compensation. But, if a better positionning / measuring precision is needed, 

Hello everyone,

I'm looking for feedback from the motion control experts on the forum. I'm not asking to do the work for me, but I'm looking for some food for thought and to open a discussion.

By default, the technology objects in TIA Portal V20 offer (unidirectional) backlash compensation upon inversion. But if we want to go further in terms of precision, what compensation options does SIEMENS offer in the Motion Control / SINAMICS environment?

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Let's take the following configuration as an example:

S7-15xxT PLC

Linear axis, controlled by S120 inverter + 1FK/FT motor

External linear encoder - DriveCliq - Mounted directly on the axis

If we want to implement an advanced compensation system (similar to what can be found in the SINUMERIK environment) of different types:

- Bidirectional backlash

- Measuring system error compensation (CESM) - Bidirectional

- Thermal compensation

What do you think would be the best methodology to apply?

Standing within this comparison with the SINUMERIK universe, compensation with interpolation (CEC type) allows the implementation of bidirectional compensation tables for 'scaling' the measuring system.

Hence my questions:

1- To your knowledge, are there any libraries developed by SIEMENS (such as backlash for version V15 [link], which also allows unidirectional compensation)?

2- Is the link in 1- still valid for TIA V20, given that backlash is now integrated into the technology object?

3- Have you already implemented bidirectional compensation tables?

4- Is motion direction detection relevant in the PRE-SERVO OB (especially for oscillations around the target position)?