8.6 Servo Gain Adjustment Functions
8-49
8.6.11 Backlash Compensation
(1) Pn207=1
The Backlash Compensation Amount (Pn214) is added to forward reference.
(2) Pn207=2
The Backlash Compensation Amount (Pn214) is added to reverse reference.
8.6.12 Position Integral
Pn214 Backlash Compensation Amount
Setting Range Setting Unit Factory Setting Setting Validation
-32767 to 32767
reference units
Reference unit 0 reference units Immediately
Pn215 Backlash Compensation Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0.00 to 655.35 ms 0.01 ms 0.00 ms Immediately
Position
Position
Parameter Meaning
Pn207
n.
0
Disabled. (Factory Setting)
n.
1
Compensate in forward direction.
n.
2
Compensate in reverse direction.
Pn214
Pn214
Machine
Motor shaft
Forward direction
Machine
Motor axis
Pn214
Pn214
Machine
Motor shaft
Reverse direction
Machine
Motor axis
Pn11F Position Integral
Setting Range Setting Unit Factory Setting Setting Validation
0.0 to 5000.0 ms 0.1 ms 0.0 ms Immediately
This function adds an integral control operation to the position loop. It is effective for electronic cam or electronic shaft
applications. Refer to the application examples in the user’s manual for the MP9 or MP2 Controllers from
Yaskawa for details.
Position
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