Dear all,

I got a task to do positioning with a stepper motor and an external encoder. The issue is the kinematic function between the stepper motor and the external encoder, where a lever mechanism is used. The motor pushes on the lever through the spindle → the lever rotates with the pin, where the encoder is used = non-linear dependence in the movement as you can see in the picture

I don't know how to implement the non-linear function into the TO. Did anybody solve this issue, or does anybody have any idea how to do it?

Im using:
1516T CPU 
the stepper driver is : F-TM StepDrive ST_1 (6BK1 136-6SB01-0BU0) firmware V2

Thank you too much.

I suppose you have mechanic where the gear ratio / leadscrew pitch is changing during operation. But you have an external encoder for position control. So the output of the position controller would generate a speed already. But if you want to avoid a bigger position deviation, a fitting speed- precontrol is neccessary.

Example: you define a leadsrew pitch at minimuim movement (for example at lower position). So 100% precontrol would fit (perfect).
But (for example at upper position), the real leadsrew pitch would be double ==> if you have configured the lead screw pitch for min. movment, a speed control of 50% would be neccessary. 
Solution: Define a math. relation between your min. and max. position and manipulate the speedprecontrol to the drive (n_soll_B) in Post_SERVO_OB.

Hello, the picture is updated