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9-10
Section
Backlash Compensation
187
9-10 Backlash Compensation
9-10-1 Outline of Operation
“Backlash” means the play between the driving axis and the mechanical system
being driven. If there is backlash in positioning from the positive or negative
direction it will cause a discrepancy of the same magnitude in the positioning.
Backlash compensation is used to make this discrepancy as small as possible.
Backlash
Positioning from positive side:
Position on drive side =
position on driven side
Positioning from
positive side
Driven side
Drive side
Positioning from negative side:
Position on drive side =
position on driven side –
amount of backlash
compensation
Same position
Positioning from negative side
In the above diagram, after positioning from the positive side, backlash is com-
pensated for up to the amount of the output of pulses set for the backlash com-
pensation either when positioning in the negative direction or when the position-
ing direction (pulse output direction) is reversed.
With this Unit, the backlash compensation value and compensation speed can
be designated by parameters.
The backlash compensation operation is used after the origin has been estab-
lished. If the backlash compensation speed is set to “0,” compensatory output is
made at the initial speed. If the initial speed is below 250 pps, the compensatory
speed is output at 250 pps.
9-10-2 Setting Axis Parameters
Data
Parameter area for each axis
Data Configuration
NC113
NC213
NC413
g
X axis
Y axis
Z axis
U axis
Backlash
compensation
m+12
m+36
m+60
m+84
x10
2
x10
1
x10
0
15
00
x10
3
Backlash compensation,
from 0000 to 9999 (BCD) pulses
Backlash
compensation
speed
m+13
m+37
m+61
m+85
x10
2
x10
1
x10
0
1514 1312
00
Backlash compensation speed (BCD)
x10
3
Factor: 00: x 1, 01: x 10, 10: x 100, 11: x1,000
Содержание C200HW
Страница 1: ...Cat No W334 E1 04 Position Control Units SYSMAC C200HW NC113 NC213 NC413 ...
Страница 2: ...C200HW NC113 NC213 NC413 Position Control Units Operation Manual Revised July 2003 ...
Страница 3: ...iv ...
Страница 5: ...vi ...
Страница 233: ...10 7 Section Transferring and Saving Data 224 Setting of operating data area for reading data READ DATA ...
Страница 284: ...Cat No W334 E1 04 Note Specifications subject to change without notice Printed in Japan Authorized Distributor ...
Страница 285: ...Cat No W334 E1 04 C200HW NC113 NC213 NC413 Position Control Units OPERATION MANUAL ...