Fully-Closed Loop Control - YASKAWA SGD7S Product Manual

Related Parameters
Set the following parameters to use backlash compensation.
 Backlash Compensation Direction
Set the direction in which to apply backlash compensation.
Parameter

n. 0
(default setting)
Pn230

n. 1
 Backlash Compensation Value
Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is converted
to encoder pulses, it is rounded off at the decimal point.
When Pn231 = 6,553.6 [reference units] and electronic gear ratio (Pn20E/Pn210) = 4/1:
Example
6,553.6 × 4 = 26,214.4 [pulses]
 The backlash compensation will be 26,214 encoder pulses.
Backlash Compensation
Setting Range
Pn231
-500,000 to 500,000
• The backlash compensation value is restricted by the following formula. Backlash compensa-
tion is not performed if this condition is not met.
Important
Pn210
Pn231 ≤
Pn20E
*
Refer to the following section for the encoder resolution.
5.14 Electronic Gear Settings on page 5-40
With fully-closed loop control, substitute the number of external encoder pulses per motor rotation
for the encoder resolution in the above formula.
Example 1:
Pn20E = 4, Pn210 = 1, Maximum motor speed = 6,000 [min
16,777,216 (24 bits)
1/4 × 6,000/60 × 16,777,216 × 0.00025 = 104,857.6 [reference units]
 The backlash compensation will be limited to 104,857.6 reference units.
Example 2:
Pn20E = 4, Pn210 = 1, Maximum motor speed = 6,000 [min
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]
 The backlash compensation will be limited to 800.0 reference units.
• Do not exceed the upper limit of the backlash compensation value. You can check the upper
limit on the operation monitor of the SigmaWin+.
Meaning
Compensate forward references.
Compensate reverse references.
Setting Unit Default Setting
0.1 reference
units
Maximum motor speed [min

60
8.12 Additional Adjustment Functions
8.12.8 Backlash Compensation
When Enabled
After restart
When Enabled
0 Immediately
-1
]
 Encoder resolution*  0.00025
-1
], and Encoder resolution =
-1
], Number of External Encoder
Classification
Setup
Classification
Setup
8
8-75