YASKAWA MP2100 Series User Manual page 162

(7) Backlash Compensation
No. 16
Set the backlash compensation in reference units.
Backlash compensation can be disabled by setting this parameter to 0.
Perform backlash compensation using the functions at the SERVOPACK. The setting is enabled when communication is
established with the SERVOPACK (NS115: Pn81B, SGDS: Pn214). Backlash compensation cannot be used for the SGD-N,
SGDB-N, or SGDH+NS100 SERVOPACKs because they do not have a parameter to set the backlash compensation.
• Using Backlash Compensation in Forward Direction
Machine
Motor axis
Motor axis
• Using Backlash Compensation in Reverse Direction
Machine
Motor axis
(8) SERVOPACK Settings
No. 29
Set the type of motor that is used.
An alarm (IL 04, bit 30) will occur if this setting does not match with the type of motor actually used.
0: Rotary motor
1: Linear motor
No. 30
Set the type of encoder that is used.
When using a linear motor, this setting is ignored and incremental processing is performed.
0: Incremental encoder
1: Absolute encoder
2: Absolute encoder used as an incremental encoder.
3: Reserved
Backlash Compensation
Setting Range
31 31
−2 to 2 −1
Compensation
Machine
Compensation
Motor Type
Setting Range
0 or 1
Encoder Type
Setting Range
0 to 3
7.2 Motion Parameter Details
Setting Unit Default Value
Reference unit
Forward
direction
Compensation
Reverse
direction
Machine
Motor axis
Compensation
Setting Unit Default Value
−
Setting Unit Default Value
−
0
7
0
0
7-7