YASKAWA Sigma-7 SGD7S Series - 9.13.9 Backlash Compensation

Speed Feedback Filter Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn308 0 to 65,535
(0.00 ms to
655.35 ms)
0.01 ms 0
(0.00 ms)
Immediately Setup
(applies to Speed Control and Position Control)
9.13.9 Backlash Compensation
If you drive a machine that has backlash, there will be deviation between the travel dis-
tance in the position reference that is managed by the host controller and the travel dis-
tance of the actual machine. Use backlash compensation to add the backlash compensa-
tion value to the position reference and use the result to drive the Servomotor. This will
ensure that the travel distance of the actual machine will be the same as the travel dis-
tance in the host controller.
– Backlash compensation can be used only with a Rotary Servomotor.
– Backlash compensation can be used only for position control.
Reference travel distance
Machine shaft
Backlash compensation value
Reference travel
distance
Motor shaft
Forward reference direction
Motor shaft
Machine axis (e.g., table)
Backlash (play due to mechanical tolerance)
Fig. 293: Backlash compensation
Set the following parameters to use backlash compensation.
n Backlash Compensation Direction
Set the direction in which to apply backlash compensation.
Parameter Function When Enabled Classification
Pn230
n. 0
(default
setting)
Compensate forward ref-
erences.
After restart Setup
n. 1
Compensate reverse ref-
erences.
n Backlash Compensation Value
Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is
converted to encoder pulses, it is rounded off at the decimal point.
Outline
Related Parameters
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Backlash Compensation
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