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Axis Parameter Area
Section 4-4
Backlash Compensation Speed
Word Address and Enable
Timing
The word addresses and enable timing for the backlash compensation speed
setting are shown below.
Bit Configuration
The bit configuration for the word addresses in the above table are shown
below.
Settings
The backlash compensation speed can be set to any speed in the following
range:
00000000 to 0007A120 Hex (0 to 500,000 pps)
The default setting is 00000000 (0).
Explanation
This setting specifies the speed for outputting the backlash compensation (in
pps units). The backlash compensation speed is set in the range 0 to
500,000 pps using two words (the leftmost word and the rightmost word) as
32-bit unsigned data. If the backlash compensation is set to anything other
than 0, and the backlash compensation speed is set to 0, backlash will be per-
formed at the initial speed or 250 pps, whichever is the greater. For details on
backlash compensation operation, refer to
9-8 Backlash Compensation
.
Acceleration/Deceleration Curve and Acceleration/Deceleration Time Designation
Word Address and Enable
Timing
The word address and enable timing for the acceleration/deceleration curve
and acceleration/deceleration time designation settings are shown below.
Bit Configuration
The bit configuration for the word addresses in the above table is shown
below.
Settings
0000, 0001, 0010, or 0011
The default setting is 0000.
Word
(PCU internal address)
Name
Enable timing
NC1
@
3
NC2
@
3
NC4
@
3
X axis
Y axis
Z axis
U axis
m+17
(0011)
m+45
(002D)
m+73
(0049)
m+101
(0065)
Backlash compensa-
tion speed (rightmost
word)
With operating com-
mand
m+18
(0012)
m+46
(002E)
m+74
(004A)
m+102
(0066)
Backlash compensa-
tion speed (leftmost
word)
15
00
00 15
Backlash compensation speed (leftmost word) (Hex) Backlash compensation speed (rightmost word) (Hex)
Word (PCU internal address)
Name
Enable timing
X axis
Y axis
Z axis
U axis
m+19
(0013)
m+47
(002F)
m+75
(004B)
m+103
(0067)
Acceleration/decel-
eration curve
Acceleration/decel-
eration time desig-
nation
With operating com-
mand
15
00
0
0
Acceleration/deceleration
time designations
Acceleration/deceleration
curve
12 11
08 07
04 03
Содержание CJ1W-C113 - REV 02-2008
Страница 1: ...Position Control Units Cat No W397 E1 07 SYSMAC CJ1W NC113 213 413 133 233 433 OPERATION MANUAL ...
Страница 2: ...CJ1W NC113 213 413 133 233 433 Position Control Units Operation Manual Revised February 2008 ...
Страница 3: ...iv ...
Страница 13: ...xiv ...
Страница 15: ...xvi ...
Страница 19: ...xx ...
Страница 27: ...xxviii Conformance to EC Directives 6 ...
Страница 43: ...16 Control System Principles Section 1 7 ...
Страница 47: ...20 Basic Procedures Section 2 ...
Страница 139: ...112 Examples of Parameter Settings Section 4 9 ...
Страница 173: ...146 Transferring Data with CX Position Section 5 7 ...
Страница 223: ...196 Sample Program Section 7 7 ...
Страница 259: ...232 Sample Program Section 8 10 ...
Страница 293: ...266 Easy Backup Function Ver 2 0 or later Section 9 11 ...
Страница 369: ...342 Reading Error Information with CX Position Section 11 8 ...
Страница 385: ...358 Common Parameter Area Appendix C ...
Страница 399: ...372 Parameter Coding Sheets Appendix E ...