Mitsubishi Electric MELSEC-Q Series - Backlash Compensation Function; Functions for Compensating the Control

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Chapter 13 Control Sub Functions
13.3 Functions for compensating the control
The sub functions for compensating the control include the "backlash compensation
function", "electronic gear function", and "near pass function". Each function is
executed by parameter setting or sequence program creation and writing.
13.3.1 Backlash compensation function
The "backlash compensation function" compensates the backlash amount in the
mechanical system.
The details shown below explain about the "backlash compensation function".
[1] Control details
[2] Precautions during control
[3] Setting the backlash compensation function
[1] Control details
When the backlash compensation amount is set, an extra amount of command
equivalent to the set backlash amount is output every time the movement
direction changes.
The following drawing shows the operation of the backlash compensation
function.
Pr.11 Backlash compensation amount
Worm gear
Workpiece
Fig. 13.8 Backlash compensation amount