8 - 20
Chapter 8 HPR Control
Backlash compensation after driver HPR method
When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module,
whether the backlash compensation is necessary or not is judged from "[Pr.44]
HPR direction" of the Simple Motion module in the axis operation such as
positioning after the driver HPR. When the positioning is executed in the same
direction as "[Pr.44] HPR direction", the backlash compensation is not executed.
However, when the positioning is executed in the reverse direction against "[Pr.44]
HPR direction", the backlash compensation is executed.
Note that the HPR is executed based on the HPR direction of the parameter of the
driver side during the driver HPR. Therefore, set the same direction to "[Pr.44]
HPR direction" of the Simple Motion module and the last HPR direction of the
driver side.
Restrictions of driver HPR method
(1) The HPR cannot be started with the Simple Motion module during servo-off.
Thus, the servo amplifier HPR method, Method 35 and 37 (Data set method),
cannot be executed during servo-off.
(2) The servo input axis cannot be used during the HPR.
During the HPR, turn OFF "[Cd.380] Synchronous control start" of the output
axis which is synchronized.
When the HPR is used during the synchronous control, the axis operates as
follows depending on the servo input axis type.
[Pr.300] Servo input axis type
Output axis operation during synchronous control
1: Feed current value
The synchronous control axis does not operate.
2: Real current value
3: Servo command value
The axis synchronizes with the input axis before the HPR is completed. However,
the synchronous control is not executed at the end of the HPR and "Overspeed"
(alarm No.: 31) or "Command frequency error" (alarm No.: 35) may occur.
4: Feedback value
(3) To use the HPR method which uses the proximity dog signal and is not based
on the Z-phase, it is recommended to use the servo amplifier built-in DI.
(4) Unlike other HPR methods, the HPR request flag ([Md.31] Status: b3) turns
OFF and the HPR complete flag ([Md.31] Status: b4) turns ON before BUSY
signal is turned OFF at HPR completion.
Summary of Contents for MELSEC Q Series
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Page 30: ...A 28 MEMO ...
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Page 97: ...3 29 Chapter 3 Specifications and Functions MEMO ...
Page 102: ...3 34 Chapter 3 Specifications and Functions MEMO ...
Page 282: ...5 162 Chapter 5 Data Used for Positioning Control MEMO ...
Page 374: ...7 16 Chapter 7 Memory Configuration and Data Process MEMO ...
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Page 400: ...8 24 Chapter 8 HPR Control MEMO ...
Page 425: ...9 25 Chapter 9 Major Positioning Control MEMO ...
Page 528: ...9 128 Chapter 9 Major Positioning Control MEMO ...
Page 554: ...10 26 Chapter 10 High Level Positioning Control MEMO ...
Page 586: ...11 32 Chapter 11 Manual Control MEMO ...
Page 800: ...16 54 Chapter 16 Troubleshooting MEMO ...
Page 830: ...Appendix 30 Appendices MEMO ...
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