8.12 Additional Adjustment Functions
8.12.7 Backlash Compensation
8-75
8
T
uning
Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[E]: EtherCAT monitor Information
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
Deviation
counter
Deviation
counter
Kp
+
−
M
ENC
Speed
conversion
+ −
Speed
conversion
Load
External
encoder
Feedforward
+
+
Speed/
current
loop
[A] [T]: Following error actual value (60F4 Hex)
[U]: Input reference pulse speed
Position
reference
filter
[U]: Feedback pulse counter
[U]: Fully closed feedback pulse counter
[U]: Reference pulse counter
Position
reference
[E] Target
position
(607A hex)
Deviation
counter
+
−
[E] Following
error actual value
(60F4 hex)
[E] Position
demand value
(6062 hex)
Latch signal
[A] [T]: Position reference speed
Output
signal
processing
[A] [O] [T]: Positioning completion
[A] [T]: Completion of position reference distribution
[U]: Position deviation
[O] [T]: Near
[A] [T]: Speed feedforward
[A] [T]: Position amplifier deviation
[U]: Feedback pulse counter
Backlash
compensation
Backlash
compensation
[E] Position actual
value (6064 hex)
Position unit
multiplier
(2701 hex:1
or 2701 hex:2)
Position unit
multiplier
(2701 hex:1
or 2701 hex:2)
Position unit
multiplier
(2701 hex:1
or 2701 hex:2)
Position unit
multiplier
(2701 hex: 1
or 2701 hex: 2)
[E] Touch probe
1 position value
(60BA hex)
Touch probe 2
position value
(60BC hex)