Backlash Compensation Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn233 0 to 65,535 0.01 ms 0 Immediately Setup
(applies to Position Control)
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 Ser-
vomotor operation.
You can monitor the following values on the operation monitor of the SigmaWin+.
Displayed Value Setting Unit
Current Backlash Compensation Value 0.1 reference units
Backlash Compensation Value Setting
Limit
0.1 reference units
This section describes the operation that is performed for backlash compensation.
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: Target Position (607Ah)
(target position in the reference coordinate system), Position Demand
Value (6062h) (reference position in the reference coordinate system),
and Position Actual Value (6064h) (feedback position in the machine
coordinate system). The monitor information includes the feedback posi-
tion in machine coordinate system (position actual value) and other feed-
back 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.
CAUTION!
The encoder divided pulse output will output the number of encoder
pulses for which driving 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 compen-
sation value.
Related Monitoring
Compensation Operation
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Backlash Compensation
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 402
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