Mitsubishi MELSEC-Q QD77MS, User Manual

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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 when the speed control mode,
torque control mode or continuous operation to torque control mode.
[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
QD77MS.
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.