3-87
One-direction function setting: Not related to the teaching function.
These settings will become enabled after the power has been turned OFF and then ON again.
Therefore, always turn OFF the power once before starting the teaching operation.
Teaching and Backlash Compensation
Backlash compensation operates when the Resolver rotates in the reverse direction. In other
words, the present angle does not change until the Resolver rotating in the reverse direction has
turned the amount for the backlash compensation. When using the teaching function, therefore,
the machine must be manually operated to rotate the Resolver axis. For example, when the
Resolver is connected to the drive axle that is driven by a motor and if there is backlash between
the drive axle and the driven side (load side), teaching must be performed by moving the drive
axle. If the driven side is moved for teaching, the backlash compensation will work in the opposite
direction and teaching will not be performed correctly.
Driven side Driven side
Drive axleDrive axle
Resolver
Resolver
(Drive axle moved and teaching performed) (Driven side moved and teaching performed)
Correct Incorrect
For example, in the right-hand example, even if the driven side is moved to the right for the
amount of the backlash compensation, the Resolver will not rotate, and therefore, the present
angle will not change. Even if the driven side is moved to the left for the amount of the backlash
compensation, the backlash compensation function will work and the present angle will not
change.
Teaching and Advance Angle Compensation
Advance angle compensation is performed when the Resolver is rotating. Teaching, in principle,
is performed while the Resolver is stationary. Advance angle compensation, therefore, generally
does not affect the teaching function. However, advance angle compensation does affect the
teaching function for teaching that can be executed only when the Resolver is rotating (at less
than 4 r/min). In particular, if a large advance angle compensation is set at low speed, the present
angle may not be continuous in the region where the advance angle is compensated, and the
angle to which the teaching function has been applied will become inappropriate.
When using the advance angle function, therefore, pay attention to the following points when
using the teaching function also.
S Perform teaching while the Resolver is not rotating.
S When the Resolver cannot be stopped, keep the advance angle amount as small as possible
for rotation at low speed (less than 4 r/min).
S When the Resolver cannot be stopped, perform teaching when there is no acceleration (when
the speed is constant.)
Furthermore, when teaching has been completed, change the advance angle compensation
position (advance angle compensation value 3) to a section where the cam output does not
change (the middle of a section where the ON or OFF status continues for a long time.)
Operation Chapter 3
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