Mitsubishi Electric RD77MS2 User Manual page 421

[Pr.11] Backlash compensation amount
The error that occurs due to backlash when moving the machine via gears can be compensated.
(When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time
the direction changes during positioning.)
[Pr.44] Home position return direction
(moving body)
• The backlash compensation is valid after machine home position return. Thus, if the backlash compensation amount is set
or changed, always carry out machine home position return once.
• "[Pr.2] Number of pulses per rotation", "[Pr.3] Movement amount per rotation", "[Pr.4] Unit magnification" and "[Pr.11]
Backlash compensation amount" which satisfies the following (1) can be set up.
([Pr.11] Backlash compensation amount) × ([Pr.2] Number of pulses per rotation)
0
≤
([Pr.3] Movement amount per rotation) × ([Pr.4] Unit magnification)
The error "Backlash compensation amount error" (error code: 1AA0H) occurs when the setting is outside the range of the
calculation result of (1).
A servo alarm (error code: 2031, 2035, etc.) may occur by kinds of servo amplifier (servomotor), load inertia moment and the
amount of command of a cycle time (Simple Motion module) even if the setting is within the calculation result of (1).
Reduce the setting value of "[Pr.11] Backlash compensation amount" or increase the operation cycle by "[Pr.96] Operation
cycle setting" if a servo alarm occurs. Use the value of the following (2) as a measure that a servo alarm does not occur.
(Maximum motor speed (r/min)) × 1.2 × (Encoder resolution (pulse/rev)) × (Operation cycle (ms))
A
≤
[Pr.1] setting value
0: mm
1: inch
2: degree
3: pulse
*1 0 to 32767: Set as a decimal
32768 to 65535: Convert into hexadecimal and set
[Pr.12] Software stroke limit upper limit value
Set the upper limit for the machine's movement range during positioning control.
[Pr.1] setting value
0: mm
1: inch
2: degree
3: pulse
Workpiece
Worm gear
Backlash
(compensation amount)
60 (s) × 1000 (ms)
Value set with the engineering tool (unit)
0 to 6553.5 (m)
0 to 0.65535 (inch)
0 to 0.65535 (degree)
0 to 65535 (pulse)
Value set with the engineering tool (unit)
-214748364.8 to 214748364.7 (m)
-21474.83648 to 21474.83647 (inch)
0 to 359.99999 (degree)
-2147483648 to 2147483647 (pulse)
(= A) ≤ 4194303 (pulse): (1)
(round down after decimal point)
(pulse): (2)
Value set with a program (unit)
0 to 65535 (  10 -1 m)
0 to 65535 (  10 -5
inch)
0 to 65535 (  10 -5
degree)
0 to 65535 (pulse)
Value set with a program (unit)
-2147483648 to 2147483647 (  10
-2147483648 to 2147483647 (  10
0 to 35999999 (  10 -5
degree)
-2147483648 to 2147483647 (pulse)
12 DATA USED FOR POSITIONING CONTROL
12.3 Basic Setting
12
*1
-1 m)
-5
inch)
419