Backlash Compensation Amount; Upper/Lower Stroke Limit Value - Mitsubishi Electric MELSEC Q Series Programming Manual

4 PARAMETERS FOR POSITIONING CONTROL

4.2.2 Backlash compensation amount

Backlash compensation amount × Number of pulses per rotation (AP)
0 
Motor instantaneous permissible speed [r/min] × Encoder resolution [pulse] × Operation cycle [ms]
A 
(Note): The backlash compensation amount is output in one operation cycle.

4.2.3 Upper/lower stroke limit value

(1) Backlash compensation amount can be set within the following range.
(Refer to Section "7.2 Backlash Compensation Function" for details.)
(Note): The following restriction does not apply to versions compatible with the
setting range expansion of backlash compensation amount.
Travel value per rotation (AL)
(2) The servo error may occur depending on the type of the servo amplifier (servo
motor) or operation cycle even if the backlash compensation amount which fulfill
the above condition.
Set the backlash compensation amount within the following range in order for
servo error may not occur.
The upper/lower limit value for the travel range of mechanical system is set.
RLS
Stroke limit
(lower)
Fig. 4.4 Travel range at the upper/lower stroke limit value setting
Ver.!
: Refer to Section 1.3 for the software version that supports this function.
60[s] × 1000[ms]
(Travel range of the machine)
4 - 6
Ver.!
(=A)  65535[pulse]
External limit signal
FLS
Stroke limit
(upper)
[pulse]