When Pn231 = 6553.6 [reference units] and position reference unit (Numerator/Denomi-
nator) = 1/1:
6,553.6 × 1 = 6,553.6 [pulses]
ð The backlash compensation will be 6,553 encoder pulses.
Example
Backlash Compensation
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn231 -500,000 to
500,000
0.1 refer-
ence units
0 Immediately Setup
(applies to Position Control)
The backlash compensation value is restricted by the following formula.
Backlash compensation is not performed if this condition is not met.
Pn231 ≤
Denominator
Numerator
60
´
Maximum motor speed [min
-1
]
´ Encoder resolution* ´ 0.00025
Fig. 294: Backlash Compensation Value - Formula
*Refer to the following section for the encoder resolution.
Ä
Chap. 6.15 ‘Setting Unit Systems’ page 178
With fully-closed loop control, substitute the number of external encoder pulses per motor
rotation for the encoder resolution in the above formula.
Denominator = 1, Numerator = 1, Maximum motor speed = 6,000 [min
-1
], and Encoder
resolution = 16,777,216 (24 bits)
1/4 × 6,000/60 × 16,777,216 × 0.00025 = 104,857.6 [reference units]
ðThe backlash compensation will be limited to 104,857.6 reference units.
Example 1
Denominator = 1, Numerator = 1, Maximum motor speed = 6,000 [min
-1
], Number of
External Encoder Scale Pitches (Pn20A) = 500, and Use of the JZDP-H00-000 (signal
resolution: 1/ 256):
1/4 × 6,000/60 × (500 × 256) × 0.00025 = 800.0 [reference units]
ðThe backlash compensation will be limited to 800.0 reference units.
Example 2
Do not exceed the upper limit of the backlash compensation value. You
can check the upper limit on the operation monitor of the SigmaWin+.
n 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 disabled.
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Backlash Compensation
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 401
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