YASKAWA E-V Series User Manual page 189

• The backlash compensation value is restricted by the following formula. The specified compensation
is not performed if this condition is not met.
Pn210
Pn231
Pn20E
∗
For details, refer to 4.4.3 Electronic Gear.
Example:
If Pn20E is set to 4, Pn210 is set to 1, the maximum motor speed is 6,000 [min
resolution is 131,072 (17 bits),
1/4 × 6000/60 × 131072 × 0.00025 = 819.2 [reference units]
⇒Therefore, the maximum backlash compensation value is 819.2 reference units.
• Do not exceed the upper limit of the backlash compensation value. The upper limit of the backlash
compensation value can be confirmed in Un031.
Backlash Compensation Time Constant
Set a time constant for a first order lag filter to use when adding the backlash compensation value (Pn231) to
the position reference.
If you set Pn233 to 0, the first order lag filter is disabled.
Backlash compensation time constant
Pn233
Setting Range
0 to 65535
Note: Changes to the set value are applied when there is no position reference input and the servomotor is stopped. The
current operation is not affected if the set value is changed during servomotor operation.
(3) Related Monitor
The following monitoring parameters provide information on backlash compensation.
Un No.
Un030
Un031
(4) Compensation Operation
This section describes the operation that is performed for backlash compensation.
Note: The following figures are for when backlash compensation is applied for references in the forward direction
(Pn230.0 = 0). The following monitoring information is provided in the figures: TPOS (target position in the refer-
ence coordinate system), POS (reference position in the reference coordinate system), and APOS (feedback position
in the machine coordinate system). The monitoring information includes the feedback position in machine coordi-
nate system (APOS) and other feedback information. The backlash compensation value is subtracted from the feed-
back positions in the monitoring information, so it is not necessary for the host controller to consider the backlash
compensation value.
• The encoder dividing pulse output will output the number of encoder pulses for which driving was actually
performed, including the backlash compensation value. If using the encoder dividing pulse output for posi-
tion feedback at the host controller, must consider the backlash compensation value.
Maximum motor speed [min
×
60
Setting Unit
0.01 ms
Displayed Information
The current backlash compensation value
Backlash compensation setting limit value
CAUTION
5.8 Additional Adjustment Function
-1
]
× Encoder resolution × 0.00025
Position
Factory Setting When Enabled
0 Immediately
-1
], and the encoder
Classification
Setup
Unit
0.1 reference unit
0.1 reference unit
5
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