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Backlash Compensation
Section 10-7
• After Backlash Compensation
Backlash compensation is applied for the first operating command that
operates in the opposite direction from which backlash compensation was
previously applied. Once backlash compensation has been applied, it will
not be applied again as long as operation is continued in the same direc-
tion.
Note
The PCU's present position compensation according to the backlash compen-
sation function is applied to both the feedback present position and command
present position.
10-7-3 Backlash Compensation Data Settings
When a G5-series Servo Drive, a G-series Servo Drive or a W-series Servo
Drive is connected, the data settings for backlash compensation are as fol-
lows:
Servo Parameter Area
Backlash Compensation Parameters (R88D-KN
@
-ML2)
The backlash compensation amount is set in Pn705 in command units. The
minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
Backlash Compensation Parameters (R88D-GN
@
-ML2)
Present position managed by PCU
Compensation amount
(4)
(3)
(1)
(2)
Compen-
sation
amount
Start (1)
(First time after
SERVO LOCK)
Start (2)
Start (4)
Start (3)
Specified backlash compensation direction
Number of Servomotor rotations
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
---
Pn704
Backlash compensation selec-
tion
---
0 to 2
2
0
---
Pn705
Backlash compensation amount
Command unit
−
32,768 to
32,767
2
0
---
Pn706
Backlash compensation time
constant
0.01ms
0 to 6400
2
0
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
---
Pn100
Backlash compensation selec-
tion
---
0 to 2
2
0
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...