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3. SPECIFICATIONS
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(5)
Starting bias speed
A minimum starting speed is require#for
the
smooth operation of some
motors (e.g. stepping motors). This
may
be set as a starting bias speed.
The starting bias speed is used for positioning, jog operation, and zero
return. See Fig. 3.3.
Positioning speed
Jog operation speed
Zero return speed
-
: Speed if starting bias speed has
been set
- - -
: Acceleration and deceleration
C t
speeds if starting bias speed
=O
Fig. 3.3 Speed Change When Starting Bias Speed is Set
For positioning with interpolation between axes, the starting bias speed set
for the axis with the shorter distance to travel is ignored.
Definition of a master axis and a slave axis during interpolation positioning
I
Speed control mode
Positioning control mode
Master axis Axis with a fast positioning speed
Axis of which a travel distance is long
~~
~~
~
ve axis
Axis with a slow positioning speed
Axis whose travel distance is short
(6) Backlash compensation
Allows a backlash compensation (see Fig. 3.4) to be programmed in for
accurate positioning. Note that there is also an error compensation
facility to allow for tolerances within the mechanical drive, see note (9).
When backlash compensation is set, every time the travel direction
changes during positioning in the positioning control mode, a feed pulse
occurs which exceeds the backlash compensation amount.
If
the travel direction when restarting positioning in the speed/position-
ing control switching mode differs from the travel direction at the initial
start, a feed pulse occurs which exceeds the backlash compensation
amount.
This applies when positioning is stopped, and
the travel direction is
changed by changing the current value after switching
to positioning
control.
The feed pulse for a backlash compensation amount is generated at by
least one JOG start signal during the JOG operation. Therefore, even
if the travel distance is smaller than a backlash compensation amount,
the feed pulse for a backlash compensation amount occurs.
3 - 13
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