110
4. Parameter description
Parameter
● Backlash countermeasures
What is the Backlash compensation?
Reduction gears have an engagement gap and have a dead zone between forward rotation and
reverse rotation. This dead zone is called backlash, and this gap disables a mechanical system from
following motor rotation.
More specifically, a motor shaft develops excessive torque when the direction of rotation changes
or when constant-speed operation shifts to deceleration, resulting in a sudden motor current
increase or regenerative status.
To avoid backlash, acceleration/deceleration is temporarily stopped. Set the
acceleration/deceleration stopping frequency and time in P.229 to P.233.
Backlash compensation function
Outpot
frequency
P.13
P.231
P.230
P.23
2
P.233
time
Note: 1. When set a backlash compensation,
acceleration
/deceleration time only in part time longer.
2. This function is valid in V/F curve. It means P.300 must be set to 0.
3. If P.187=1, P.230 and P.232 are in the range of 0~1000Hz.
4.56 Triangular Wave Function (P.234~P.239)
P.234 “Triangular wave function selection”
P.235 “Maximum amplitude”
P.236 “Amplitude compensation for deceleration”
P.237 “Amplitude compensation for acceleration”
P.238 “Amplitude acceleration time”
P.239 “Amplitude deceleration time”
Parameter
Factory setting
Setting range
Remarks
234
0
0~2
---
235
10%
0~25%
---
236
10%
0~50%
---
237
10%
0~50%
---
238
10s
0~360s/0~3600s
If P.21=0, minimum increments of P.238
and P.239 is 0.01 seconds.
If P.21=1, minimum increments of P.238
and P.239 is 0.1 seconds.
239
10s
0~360s/0~3600s
