13 - 12
Chapter 13 Control Sub Functions
[2] Precautions during control
(1) The feed command of the backlash compensation amount are not added to
the "
Md.20
Current feed value
" or "
Md.21
Machine feed value
".
(2) Always carry out a machine OPR before starting the control when using the
backlash compensation function (when "
Pr.11
Backlash compensation amount
"
is set). The backlash in the mechanical system cannot be correctly
compensated if a machine OPR is not carried out.
(3) Backlash compensation, which includes the movement amount and "
Pr.11
Backlash compensation amount
", is output the moment at the moving direction
changes.
(4) Backlash compensation cannot be made during the speed control mode,
torque control mode or continuous operation to torque control mode.
(5) In an axis operation such as positioning after OPR, whether the backlash
compensation is necessary or not is judged from "
Pr.44
OPR direction
" of the
Simple Motion module. When the positioning is executed in the same
direction as "
Pr.44
OPR direction
", the backlash compensation is not executed.
However, when the positioning is executed in the reverse direction against
"
Pr.44
OPR direction
", the backlash compensation is executed.
[3] Setting the backlash compensation function
To use the "backlash compensation function", set the "backlash compensation
amount" in the parameter shown in the following table, and write it to the Simple
Motion module.
The set details are validated at the rising edge (OFF
ON) of the PLC READY
signal [Y0].
Setting item
Setting
value
Setting details
Factory-set
initial value
Pr.11
Backlash
compensation
amount
Set the backlash compensation amount.
0
: Refer to Section 5.2 "List of parameters" for setting details.
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
Summary of Contents for MELSEC-L Series
Page 2: ......
Page 30: ...MEMO ...
Page 70: ...2 10 Chapter 2 System Configuration MEMO ...
Page 83: ...3 13 Chapter 3 Specifications and Functions MEMO ...
Page 103: ...3 33 Chapter 3 Specifications and Functions MEMO ...
Page 107: ...3 37 Chapter 3 Specifications and Functions MEMO ...
Page 111: ...3 41 Chapter 3 Specifications and Functions MEMO ...
Page 115: ...3 45 Chapter 3 Specifications and Functions MEMO ...
Page 140: ...4 22 Chapter 4 Installation Wiring and Maintenance of the Product MEMO ...
Page 253: ...5 113 Chapter 5 Data Used for Positioning Control MEMO ...
Page 342: ...5 202 Chapter 5 Data Used for Positioning Control MEMO ...
Page 438: ...7 20 Chapter 7 Memory Configuration and Data Process MEMO ...
Page 440: ...MEMO ...
Page 485: ...9 25 Chapter 9 Major Positioning Control MEMO ...
Page 594: ...9 134 Chapter 9 Major Positioning Control MEMO ...
Page 624: ...10 30 Chapter 10 High Level Positioning Control MEMO ...
Page 656: ...11 32 Chapter 11 Manual Control MEMO ...
Page 690: ...12 34 Chapter 12 Expansion Control MEMO ...
Page 798: ...13 108 Chapter 13 Control Sub Functions MEMO ...
Page 866: ...14 68 Chapter 14 Common Functions MEMO ...
Page 884: ...15 18 Chapter 15 Dedicated Instructions MEMO ...
Page 899: ...16 15 Chapter 16 Troubleshooting MEMO ...
Page 1036: ...Appendix 88 Appendices MEMO ...
Page 1039: ......