Mitsubishi QD75P1N User Manual page 511

12 CONTROL SUB FUNCTIONS
Setting item
Backlash
Pr.11
compensation
amount
Refer to Section 5.2 "List of parameters" for setting details.
[2] Control Precautions
(1) The feed pulses of the backlash compensation amount are not added to the
Md.20
" Current feed value" or "
(2) Always carry out a machine OPR before starting the control when using the
backlash compensation function (when "
amount" is set). The backlash in the mechanical system cannot be correctly
compensated if a machine OPR is not carried out.
(3) Set the No. of pulses output in one backlash compensation (value in which
Pr.11
the "
amount per pulse") to a value of 255 or lower. An error "Backlash
compensation amount error" (error code: 920) will occur if a value over 255
is set. (Depending on the connected servo, tracking may not be possible if a
large amount of pulses is output at once.)
Backlash compensation amount
0 ≤
Movement amount per pulse
(4) Backlash compensation, which includes the movement amount and
" Pr.11 Backlash compensation amount", is output the moment at the
moving direction changes.
(5) Backlash compensation cannot be made when the stepping motor is used.
[3] Setting method
To use the "backlash compensation function", set the "backlash compensation
amount" in the parameter shown in the following table, and write it to the QD75.
The set details are validated at the rising edge (OFF
signal (Y0).
Setting
value
Set the backlash compensation amount.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.
Md.21
Backlash compensation amount" is divided by the "movement
Setting details
12 - 13
MELSEC-Q
Machine feed value".
Pr.11
Backlash compensation
≤ 255
(Omit values after the decimal point.)
ON) of the PLC READY
Factory-set
initial value
0