Omron CJ1W-MA - REV 10-2008, Operation Manual

Page: 410 / 644

383
Software Limits Section 10-8
The backlash compensation amount is set in Pn81B in 0.1 command units.
The minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
Backlash Compensation Parameters (R88D-WN
@
-ML2)
The backlash compensation function is set in Pn214 in command units. The
minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
The direction in which backlash compensation is first applied after execution
of SERVO LOCK using the backlash compensation function is set in Servo
Parameters
Backlash Compensation Selection (Pn100) when using
R88D-GN @ -ML2, Backlash Compensation Direction (Pn81D.0) when using
R88D-WT @ , and Backlash Compensation Selection (Pn207.2) when using
R88D-WN @ -ML2, as follows:
Note When using R88D-WT @ + JUSP-NS115 without backlash compensation, set
the backlash compensation amount to (Pn81B) to 0.
10-8 Software Limits
10-8-1 Overview
To prevent or reduce damage to external devices due to unexpected position-
ing operations when there is a malfunction, in addition to the forward rotation
and reverse rotation limit input signals, the PCU also has a function that mon-
itors positioning at a software level. This function is called the “software limit”
function.
The range in which the software limit function monitors the position is deter-
mined by the values of two settings: the forward software limit and the reverse
software limit. Normally, positioning is only possible within the range deter-
mined by these software limit settings. The relationship between the forward
rotation and reverse rotation limit input signals, the software limits, and the
mechanical stoppers used in the system is shown below.
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn207.2 Backlash compensation selec-
tion --- 0 to 2 2 0
--- Pn214 Backlash compensation amount Command unit
−
32,768 to
32,767
2 0
--- Pn215 Backlash compensation constant 0.01 ms 0 to 65535 2 0
R88D-GN @
-ML2
R88D-WT @ +
JUSP-NS115
R88D-WN @
-ML2
Function
Pn100 Pn81D.0 Pn207.2
0 --- 0 No backlash compensation
1 0 1 Compensates in the forward direction.
The first backlash compensation
direction is forward.
2 1 2 Compensates in the reverse direction.
The first backlash compensation
direction is forward.