SMC Networks LECYU Series, Operation Manual

Page: 225 / 250

5 Adjustments
5-62
•
The backlash compensation value is restricted by the following formula. The specified compensation
is not performed if this condition is not met.
∗
For details on encoder resolution, refer to 8.3.5 Electronic Gear .
Example 1:
Assuming Pn20E = 4, Pn210 = 1, maximum motor speed = 6000
[min
-1
], encoder resolution = 1048576 (20 bits):
1/4
×
6000/60
×
1048576
×
0.00025 = 6553.6 [reference units]
⇒
The upper limit for the backlash compensation is 6553.6 [reference units].
Example 2:
When using the conditions Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min
-1
],
external encoder pitch count (Pn20A) = 500, signal resolution: 1/256:
1/4
×
6000/60
×
(500
×
256)
×
0.00025 = 800.0 [reference units]
⇒
The upper limit for the backlash compensation is 800.0 [reference units].
• Do not exceed the upper limit of the backlash compensation value. The upper limit of
the backlash compensation value can be confirmed in Un031.
- Backlash Compensation Time Constant
Set a time constant for a first order lag filter to use when adding the backlash
compensation value (Pn231) to the position reference.
If you set Pn233 to 0, the first order lag filter is disabled.
Pn233
Backlash compensation time constant
Position
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 0 Immediately Setup
Note: Changes to the set value are applied when there is no position reference input and
the servomotor is stopped. The current operation is not affected if the set value is
changed during servomotor operation.
(3) Related Monitor
The following monitoring parameters provide information on backlash compensation.
Displayed Information Unit
The current backlash compensation value 0.1 reference unit
Backlash compensation setting limit value 0.1 reference unit