Mitsubishi Melsec-A Series User Manual page 27

.
3. SPECIFEATWNS
'-s,
/MELSE
Backlash compensation is valid after zeroing. After redefining
the backlash compensation, always zero the system.
f - -
Zeroing direction
(7) Upper stroke limit
Lead r r e w
Work
-+t - +--
backlash
I
Fig.
3.4 Backlrsh
Cornpansation
0
Defines the upper limit value of machine travel.
The stroke limit is checked before each positioning operation
and if outside the allowed range, positioning is halted.
During jog operation and manual pulser inching, the stroke limit
is ignored.
(8) Lower stroke limit
0
Defines the lower limit value of machine travel,
0
The stroke limit is checked before each positioning operation
and if outside the allowed range, positioning is halted.
During jog operation and manual pulser inching, the stroke limit
is ignored.
(9)
Error compensation
The AD71 may be calibrated to allow for mechanical errors in the
system. This is facilitated by providing an error compensation
parameter and is found as follows (example for mm):
1
) S e t
the error compensation to 0.
2) Program the AD71 to provide lOOOmm travel.
3) Measure the actual distance travelled.
4) Calculate the error, E, such that
5)
S e t
E as the error compensation parameter (in units of 10-lpm).
6) If using inches the calibration distance is 100 inch, and for
E
= l m
-
Measured value. (in mm)
degrees it is 100 deg.
The AD71 calculates the error compensation value Ec as follows:
Ec= - x € x n
I :
I
Where,
S
= Travel distance according to AD71
m = Measured distance for S
E
=
Difference calculated in (4) above.
n =
lo4
when units are mm
=
10' when units are inch-' or degree-'
3-1
2
IB
INAI
66101-A