YASKAWA E-V Series User Manual page 191

When Servo is OFF
Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered).
Therefore, the reference position POS moves by only the backlash compensation value.
The relationship between APOS and the servomotor shaft position is as follows:
• When servo is OFF: APOS = Servomotor shaft position
The following figure shows what happens when the servo is turned OFF after driving the servomotor in the
forward direction from target position TPOS0 to TPOS1. Backlash compensation is not applied when the
servo is OFF (i.e., the SERVOPACK manages the position data so that APOS and POS are the same).
Target position
TPOS0
POS
APOS
Machine axis
Motor axis
Machine axis
Motor axis
When There is Overtravel
When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or software limit), the
operation is the same as for
When Control is Changed
Backlash compensation is performed only for position control.
Backlash compensation is not applied if changing from position control to any other type of control.
Backlash compensation is applied in the same way as
control to position control.
(5) Monitor Functions (Un Monitoring)
Un No. Displayed Information
Un007 Input reference speed
Un008 Position error amount
Un00C Input reference counter
Un00D Feedback pulse counter
Un013 Feedback pulse counter
Travel distance
Pn231
Travel distance
Backlash = Pn231
When Servo is OFF, i.e., backlash compensation is not applied.
Unit
-1
min
Reference unit
Reference unit
Encoder pulse
Reference unit
5.8 Additional Adjustment Function
Servo OFF
MECHA
Target position
TPOS1
Status with no backlash
compensation POS = APOS
When Servo is ON if changing from any other type of
Specification
Indicates the input reference speed before backlash
compensation.
Displays the position error with respect to the position
reference after backlash compensation.
Displays the input reference counter before backlash
compensation.
Displays the pulse count of the actually driven motor
encoder.
Displays the pulse count of the actually driven encoder
in reference units.
5
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