User`s manual

11 - 21
11
11-10
Backlash compensation
[1] Outline of function
"Backlash" is the gear meshing error that occurs between the drive shaft and the mechanical
system that is driven.
When backlash occurs it causes a proportionate amount of shift in positioning from the forward
direction and from the reverse direction. Backlash can be compensated to eliminate this shift.
Setting value
(BCD)
Description
Set the compensation amount (P) of backlash (error on mechanical system).
Additional feedback pulses proportionate to the compensation amount
are output each time that the positioning direction changes.
A parameter setting error is output when a code other than a BCD is set.
037
040
10
1
10
3
10
0
10
2
0
(default)
to
9999
Compensation amount (setting value)
The backlash compensation speed becomes the startup speed.
[2] Axis parameter settings
Parameter 1 (regular parameter)
Set as follows as block No.01. (must be set independently on each axis)
[3] Backlash compensation operation
Reciprocal operation on single axis
Time
Speed
Travel time in backlash compensation
Startup speed
0020 to 0023
0064 to 0065
Startup speed
Backlash compensation data
4
2
00000000
0000
000001 to 500000 pps *Remaining 1 byte is not used.
0000 to 9999
Address
Function
Byte Default
• "****" in A+**** indicates the numerical value of the address.
(Note) when the startup speed is set to "0", backlash is compensated by 4 pps (minimum pulse
unit of this module) as the resolution is four.