Backlash Compensation And Digital Override - Mitsubishi Electric MR-JE-*C Instruction Manual

12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE

12.6.4 Backlash compensation and digital override

(1) Backlash compensation
When executing a positioning reversely to the direction to the home position return, set [Pr. PT14
Backlash compensation] to stop the shaft at the compensated position for the setting value.
When the travel distance between stations is set to 1000 and the backlash compensation is set to 10 in
the absolute position detection system, the timing chart is as follows.
(a) Torque limit changing dog type home position return
Power supply
ZP
(Home position return completion)
Forward rotation
Servo motor speed
0 r/min
Reverse rotation
DI0 (Next station No. selection 1) to
DI7 (Next station No. selection 8)
Servo motor current position
(b) Torque limit changing data set type
Power supply
ZP
(Home position return completion)
Forward rotation
0 r/min
Servo motor speed
Reverse rotation
DI0 (Next station No. selection 1) to
DI7 (Next station No. selection 8)
Servo motor current position
Backlash is compensated to the direction set with [Pr. PT38] regardless of a JOG operation ( 1)) or
disturbance after power-on.
[Pr. PT38] setting value
"0 _ _ _"
"1 _ _ _"
ON
OFF
ON
OFF
No. 1
1000
Backlash compensation
ON
OFF
ON
OFF
1)
No. 1
1000
Backlash compensation
Executes backlash compensation assuming a command to the CW
rotation direction before home position return.
Executes backlash compensation assuming a command to the CCW
rotation direction before home position return.
No. 2 No. 3 No. 2
2000 3000 2000-10 1000-10
No. 2 No. 3 No. 2
2000 3000 2000-10 1000-10
Backlash compensation
12 - 88
No. 1 No. 2 No. 1
2000 1000-10
No. 1 No. 2 No. 1
2000 1000-10
No. 2
2000
No. 2
2000