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407
Backlash Compensation
Section 10-7
The backlash compensation amount is set in Pn101 in command units. The
minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
Backlash Compensation Parameters (R88D-WT
@
+ FNY-NS115)
The backlash compensation amount is set in Pn81B in 0.1 command units.
The minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
Backlash Compensation Parameters (R88D-WN
@
-ML2)
The backlash compensation function is set in Pn214 in command units. The
minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
The direction in which backlash compensation is first applied after execution
of SERVO LOCK using the backlash compensation function is set in Servo
Parameters
Backlash Compensation Selection
(Pn704) when using
R88D-KN
@
-ML2,
Backlash Compensation Selection
(Pn100) when using
R88D-GN
@
-ML2,
Backlash Compensation Direction
(Pn81D.0) when using
R88D-WT
@
, and
Backlash Compensation Selection
(Pn207.2) when using
R88D-WN
@
-ML2, as follows:
Note
When using R88D-WT
@
+ FNY-NS115 without backlash compensation, set
the backlash compensation amount to (Pn81B) to 0.
---
Pn101
Backlash compensation
Command unit
−
32,768 to
32,767
2
0
---
Pn102
Backlash compensation time
constant
0.01ms
0 to 6400
2
0
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
---
Pn81B
Backlash compensation amount
0.1 command unit
−
32,768 to
32,767
2
0
---
Pn81D.0
Compensation function selection ---
0, 1
2
0
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
---
Pn207.2
Backlash compensation selec-
tion
---
0 to 2
2
0
---
Pn214
Backlash compensation amount
Command unit
−
32,768 to
32,767
2
0
---
Pn215
Backlash compensation constant 0.01 ms
0 to 65535
2
0
R88D-KN
@
-ML2
R88D-GN
@
-ML2
R88D-WT
@
+
FNY-NS115
R88D-WN
@
-ML2
Function
Pn704
Pn100
Pn81D.0
Pn207.2
0
0
---
0
No backlash compensation
1
1
0
1
Compensates in the forward direction.
The first backlash compensation
direction is forward.
2
2
1
2
Compensates in the reverse direction.
The first backlash compensation
direction is forward.
Содержание CJ1W-NC271 - 12-2009
Страница 2: ......
Страница 4: ...iv ...
Страница 6: ...vi ...
Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...