YASKAWA JEPMC-MP2300-Y Series User Manual page 312

6 Motion Parameters
6.4.1 Motion Fixed Parameter Details
( 7 ) Backlash Compensation
No. 16
Backlash Compensation
Set the backlash compensation in reference units. Backlash compensation can be performed 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 the Forward Direction
Description
Using Backlash Compensation in the Reverse Direction
( 8 ) SERVOPACK Settings
Fixed Parameter 30
Encoder Type
Set the type of encoder that is being used.
0: Incremental encoder
1: Absolute encoder
Description
2: Absolute encoder used as an incremental encoder.
3: Reserved
6-22
Machine
Motor axis
Reference position
Machine
Motor axis
Backlash Compensation
in fixed parameter 16
Machine
Motor axis
Setting Range
31
−2
to 2
Compensation
Travels
opposite of
Home Direction.
Compensation
Compensation
Setting Range
0 to 3
Setting Unit Default Value
31
Reference unit
−1
Reference position
Home Direction
Reverse direction
Machine
Motor axis
Setting Unit Default Value
－
0
0