Setting The Backlash Compensation Function - Mitsubishi Electric QD77MS User Manual

[2] Precautions during control
(1) The feed command of the backlash compensation amount are not added to
(2) Always carry out a machine OPR before starting the control when using the
(3) Backlash compensation, which includes the movement amount and "[Pr.11]
(4) Backlash compensation cannot be made during the speed control mode,
(5) In an axis operation such as positioning after OPR, whether the backlash

[3] Setting the backlash compensation function

To use the "backlash compensation function", set the "backlash compensation
amount" in the parameter shown in the following table, and write it to the Simple
Motion module.
The set details are validated at the rising edge (OFF
signal [Y0].
Setting item
Backlash
[Pr.11] compensation
amount
: Refer to Section 5.2 "List of parameters" for setting details.
REMARK
 Parameters are set for each axis.
 It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
the "[Md.20] Current feed value" or "[Md.21] Machine feed value".
backlash compensation function (when "[Pr.11] Backlash compensation
amount" is set). The backlash in the mechanical system cannot be correctly
compensated if a machine OPR is not carried out.
Backlash compensation amount", is output the moment at the moving
direction changes.
torque control mode or continuous operation to torque control mode.
compensation is necessary or not is judged from "[Pr.44] OPR direction" of
the Simple Motion module. When the positioning is executed in the same
direction as "[Pr.44] OPR direction", the backlash compensation is not
executed. However, when the positioning is executed in the reverse direction
against "[Pr.44] OPR direction", the backlash compensation is executed.
Setting
value
Set the backlash compensation amount.
13 - 12
Chapter 13 Control Sub Functions
Setting details
ON) of the PLC READY
Factory-set
initial value
0