n Operation When the Servo Is OFF
Backlash compensation is not applied when the servo is OFF (i.e., when power is not
supplied to motor). Therefore, the reference position (Position Demand Value
(6062h)) is moved by only the backlash compensation value.
The relationship between Position Actual Value (6064h) and the motor shaft position
is as follows:
– When servo is OFF: Position Actual Value (6064h) = Servomotor shaft position
The following figure shows what happens when the servo is turned OFF after
driving the Servomotor in the forward direction from target position Target Position
0 to Target Position 1. Backlash compensation is not applied when the servo is
OFF. (The SERVOPACK manages the position data so that Position Actual Value
(6064h) and Position Demand Value (6062h) are the same.)
Pn231
Target Position 0 Target Position 1
Position demand
value (6062h)
Position actual
value (6064h)
Servo OFF
Target position
Forward
reference
direction
Status with no backlash
compensation:
Position demand value (6062h)
= Position actual value (6064h)
Reference travel distance
Reference travel distance
Target position
Motor shaft
Machine shaft
Motor shaft
Machine shaft
Backlash compensation value (Pn231)
Fig. 296: Backlash Compensation - Operation When the Servo Is OFF
n Operation When There Is Overtravel
When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or
software limit), the operation is the same as for when the servo is OFF (Fig. 296), i.e.,
backlash compensation is not applied.
n Operation When Control Is Changed
Backlash compensation is performed only for position control.
Backlash compensation is not applied when position control is changed to any other
control method.
Backlash compensation is applied in the same way as when the servo is ON
(Fig. 295) if any other control method is changed to position control.
You can monitor the following values on the operation monitor of the SigmaWin+.
Displayed Value Unit Specification
Input Reference Pulse
Speed
min
-1
Displays the input reference
pulse speed before back-
lash compensation.
Position Deviation Reference units Displays the position devia-
tion for the position refer-
ence after backlash com-
pensation.
Input Reference Pulse
Counter
Reference units Displays the input reference
pulse counter before back-
lash compensation.
Related Monitoring
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Backlash Compensation
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 404
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