Backlash Compensation Function - YASKAWA Sigma-V Series User Manual

5.6.6 Backlash Compensation Function

(1) Overview
When driving a machine with backlash, there will be a deviation between the travel distance in the position
reference that is managed by the host controller and the travel distance of the actual machine. Use backlash
compensation function to add the backlash compensation value to the position reference and use the result to
drive the servomotor. This means that the travel distance of the actual machine will be the same as the travel
distance in the host controller.
Note: This function is supported only for position control.
Machine axis
Backlash compensation value
(2) Related Parameter
Set the following parameter to use backlash compensation.
 Backlash Compensation Direction
Set the direction in which to apply backlash compensation.
Parameter
n. 0
[Factory
setting]
Pn230
n. 1
 Backlash Compensation Value
Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is converted to encoder
pulses, it is rounded off at the decimal point.
Example: If Pn231 is set to 6,553.6 [reference unit] and the electronic gear ratio (Pn20E/Pn210) is set to 4/1,
then the pulse equivalent is 6,553.6 × 4 = 26,214.4 [pulses].
The backlash compensation value will be 26,214 encoder pulses.
Backlash compensation value
Setting Range
Pn231
-500000 to 500000
Travel distance by
position reference
Travel distance
by position reference
Motor axis
Motor axis
Backlash (play due to mechanical precision)
Compensates with a reference in the forward direc-
tion.
Compensates with a reference in the reverse direc-
tion.
Setting Unit
0.1 reference
unit
MECHA
Reference forward
rotational direction
Machine axis (e.g. table)
Function
Position
Factory Setting When Enabled
0
5.6 Additional Adjustment Function
When Enabled Classification
After restart Setup
Classification
Immediately Setup
5
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