YASKAWA Sigma-7 SGD7S Series - Page 403

n Operation When the Servo Is ON
The backlash compensation value (Pn231) is added in the backlash compensation
direction when the servo is ON (i.e., while power is supplied to the motor) and a refer-
ence is input in the same direction as the backlash compensation direction (Pn230.0
= n.X). When there is a reference input in the direction opposite to the backlash
compensation direction, the backlash compensation value is not added (i.e., backlash
compensation is not performed).
The relationship between Position Actual Value (6064h) and the motor shaft position
is as follows:
– If a reference is input in the compensation direction: Position Actual Value (6064h)
= Motor shaft position - Pn231
– If a reference is input in the direction opposite to the compensation direction:
Position Actual Value (6064h) = Motor shaft position
The following figure shows driving the Servomotor in the forward direction from Target
Position 0 (Target Position: 607Ah) to Target Position 1 and then to Target Position 2, and
then returning from Target Position 2 to Target Position 1 and then to Target Position 0.
Backlash compensation is applied when moving from Target Position 0 to Target Position
1, but not when moving from Target Position 2 to Target Position 1.
Pn231
Pn231
Position demand
value (6062h)
Position actual
value (6064h)
Target Position 0
Position demand
value (6062h)
Position actual
value (6064h)
Driving in the Forward
Reference Direction
Machine shaft
Motor shaft
Reference travel
distance 1
Reference travel
distance 2
Machine shaft
Motor shaft
Driving in the Reverse
Reference Direction
Backlash compensation value (Pn231)
Machine shaft
Motor shaft
Machine shaft
Motor shaft
Backlash compensation value (Pn231)
Reference travel
distance 2
Reference travel
distance 1
Reference travel
distance 2
Reference travel
distance 1
Servo ON
Target position
Reference travel
distance 1
Target position
Reference travel
distance 2
Target position
Forward reference
direction
Target Position 1
Target Position 2
Fig. 295: Backlash Compensation - Operation When the Servo Is ON
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Backlash Compensation
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