Mitsubishi Electric RD77MS16, User Manual

Page: 421 / 644

12 DATA USED FOR POSITIONING CONTROL
12.3 Basic Setting
419
12
[Pr.11] Backlash compensation amount
The error that occurs due to backlash when moving the machine via gears can be compensated.
(When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time
the direction changes during positioning.)
• The backlash compensation is valid after machine home position return. Thus, if the backlash compensation amount is set
or changed, always carry out machine home position return once.
• "[Pr.2] Number of pulses per rotation", "[Pr.3] Movement amount per rotation", "[Pr.4] Unit magnification" and "[Pr.11]
Backlash compensation amount" which satisfies the following (1) can be set up.
The error "Backlash compensation amount error" (error code: 1AA0H) occurs when the setting is outside the range of the
calculation result of (1).
A servo alarm (error code: 2031, 2035, etc.) may occur by kinds of servo amplifier (servomotor), load inertia moment and the
amount of command of a cycle time (Simple Motion module) even if the setting is within the calculation result of (1).
Reduce the setting value of "[Pr.11] Backlash compensation amount" or increase the operation cycle by "[Pr.96] Operation
cycle setting" if a servo alarm occurs. Use the value of the following (2) as a measure that a servo alarm does not occur.
*1 0 to 32767: Set as a decimal
32768 to 65535: Convert into hexadecimal and set
[Pr.12] Software stroke limit upper limit value
Set the upper limit for the machine's movement range during positioning control.
[Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit)
*1
0: mm 0 to 6553.5 (

m) 0 to 65535 (

10
-1 
m)
1: inch 0 to 0.65535 (inch) 0 to 65535 (

10
-5
inch)
2: degree 0 to 0.65535 (degree) 0 to 65535 (

10
-5
degree)
3: pulse 0 to 65535 (pulse) 0 to 65535 (pulse)
[Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit)
0: mm -214748364.8 to 214748364.7 (

m) -2147483648 to 2147483647 (

10
-1 
m)
1: inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (

10
-5
inch)
2: degree 0 to 359.99999 (degree) 0 to 35999999 (

10
-5
degree)
3: pulse -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse)
Workpiece
(moving body)
[Pr.44] Home position return direction
Backlash
(compensation amount)
Worm gear
0
([Pr.11] Backlash compensation amount) × ([Pr.2] Number of pulses per rotation)
(= A)
≤
4194303 (pulse): (1)
([Pr.3] Movement amount per rotation)
×
([Pr.4] Unit magnification)
(round down after decimal point)
≤
A
(Maximum motor speed (r/min)) × 1.2 × (Encoder resolution (pulse/rev)) × (Operation cycle (ms))
(pulse): (2)
60 (s)
×
1000 (ms)
≤