9.12 Additional Adjustment Functions
9.12.8 Backlash Compensation
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9.12.8
Backlash Compensation
Outline
If you drive a machine that has backlash, there will be deviation between the travel distance in
the position reference that is managed by the host controller and the travel distance of the
actual machine. Use backlash compensation to add the backlash compensation value to the
position reference and use the result to drive the Servomotor. This will ensure that the travel
distance of the actual machine will be the same as the travel distance in the host controller.
Note: 1. Backlash compensation can be used only with a Rotary Servomotor.
2. Backlash compensation can be used only for position control.
Related Parameters
Set the following parameters to use backlash compensation.
Backlash Compensation Direction
Set the direction in which to apply backlash compensation.
Backlash Compensation Value
Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is converted
to encoder pulses, it is rounded off at the decimal point.
Parameter
Meaning
When Enabled
Classification
Pn230
(2230h)
n.
0
(default setting)
Compensate forward references.
After restart
Setup
n.
1
Compensate reverse references.
When Pn231 = 6553.6 [reference units] and position reference unit (Numerator/Denominator)
= 1/1:
6,553.6
×
1 = 6,553.6 [pulses]
The backlash compensation will be 6,553 encoder pulses.
Pn231
(2231h)
Backlash Compensation
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
-500,000 to 500,000
0.1 reference
units
0
Immediately
Setup
Reference travel distance
Machine shaft
Backlash compensation value
Reference travel
distance
Motor shaft
Forward reference direction
Motor shaft
Machine axis (e.g., table)
Backlash (play due to mechanical tolerance)
Example
Position
