8.12 Additional Adjustment Functions
8.12.8 Backlash Compensation
8-76
Backlash Compensation Time Constant
You can set a time constant for a first order lag filter for the backlash compensation value
(Pn231) that is added to the position reference.
If you set Pn233 (Backlash Compensation Time Constant) to 0, the first order lag filter is dis-
abled.
Note: Changes to the settings are applied when there is no reference pulse input and the Servomotor is stopped.
The current operation is not affected if the setting is changed during Servomotor operation.
Related Monitoring
You can monitor the following values on the operation monitor of the SigmaWin+.
Compensation Operation
This section describes the operation that is performed for backlash compensation.
Note: The following figures are for when backlash compensation is applied to references in the forward direction
(Pn230 = n.0). The following monitor information is provided in the figures: TPOS (target position in the
reference coordinate system), POS (reference position in the reference coordinate system), and APOS (feed-
back position in the machine coordinate system). The monitor information includes the feedback position in
machine coordinate system (APOS) and other feedback information.
The backlash compensation value is subtracted from the feedback positions in the monitor information, so it
is not necessary for the host controller to consider the backlash compensation value.
Pn233
Backlash Compensation Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.01 ms 0 Immediately Setup
Displayed Value Setting Unit
Current Backlash Compensation Value 0.1 reference units
Backlash Compensation Value Setting Limit 0.1 reference units
The encoder divided pulse output will output the number of encoder pulses for which driv-
ing was actually performed, including the backlash compensation value. If you use the
encoder output pulses for position feedback at the host controller, you must consider the
backlash compensation value.
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