Enabling Conditions For Backlash Compensation Ii; Procedure Of Setting Backlash Compensation Ii; Setting The Backlash Compensation Ii Acceleration Rate - Mitsubishi Electric M800W Series Connection And Set Up Manual

M800W/M80W Series Connection and Setup Manual
29 Setting the Backlash Compensation

29.2.1 Enabling Conditions for Backlash Compensation II

Backlash compensation II is enabled when all the following conditions are satisfied.
(1) Backlash compensation II option is ON.
(2) Parameter "#14360 valBL2" (backlash compensation II valid) is ON.
(3) Parameter "#14361 BL2_a1" (backlash compensation II acceleration rate 1) is other than "0".
Backlash compensation II can be specified valid/invalid status for each axis.

29.2.2 Procedure of Setting Backlash Compensation II

To set backlash compensation II parameters, measure up to four acceleration rates and quadrant projection sizes at axis
direction reversal, changing settings such as circular radius and commanded speed.
Set the compensation patterns measured when a direction of the axis reversed to backlash compensation II acceleration
rate 1 to 4 and backlash compensation amount II 1 to 4.
Set as the quadrant
projection compensation
amount (Y axis).
Y

29.2.2.1 Setting the backlash compensation II acceleration rate

For the backlash compensation II acceleration rate, set the acceleration rate (μm/s
on which compensation to be performed.
Up to four backlash compensation II acceleration rates can be set for each axis.
Backlash compensation II acceleration rate 1: "#14361 BL2_a1"
Backlash compensation II acceleration rate 2: "#14363 BL2_a2"
Backlash compensation II acceleration rate 3: "#14365 BL2_a3"
Backlash compensation II acceleration rate 4: "#14367 BL2_a4"
Set the backlash compensation II acceleration rate 1 to 4 in ascending order.
When the number of compensation patterns is less than four, set "0" for the parameters of the acceleration rates which
are not used.
For example, when there are three compensation patterns, set the parameter "#14367 BL2_a4" to "0".
IB-1501268-K
X
Setting acceleration rate and compensation amount
546
Set the acceleration rate at axis
direction reversal as quadrant
projection compensation acceleration
rate for each axis.
Set as the quadrant projection
compensation amount (X axis).
2
) at reversal of direction of the axis