Pa2_28 And 29 Limiter Detection Position - Fuji Electric ALPHA7 User Manual

Non-overflow: Repetitive rotation in the same direction can be made.
The position is preset at the start, and all position data is handled as an incremental
value. The OT function, software OT and hardware OT functions allocated to input
signals are disabled.

PA2_28 and 29 Limiter detection position

No. Name
Positive Iimiter detection
28
position
Negative Iimiter detection
29
position
This parameter is enabled only for LS type.
Enter the position of the limiter detection function.
While each setting can be positive or negative, the setting of PA2_28 must not be smaller than the
setting of PA2_29.
For detail description of limiter detection, refer to "CHAPTER 2 WIRING."
PA2_30 Backlash compensation
No. Name
30 Backlash compensation
This parameter is enabled only for LS type.
Backlash in mechanical system can be compensated using the servomotor rotation amount.
The servomotor rotates with adding the amount of set value each time the servomotor changes the
direction of rotation.
When using this function, make sure to adjust followings. If it is not observed, the
operation may fail.
(1) Before setting a value to this parameter, adjust acceleration/deceleration time
(PA1_37 to 40) and low-pass filter (for S-curve) time constant (PA1_52) for the servo
amplifier to prevent the travel of mechanical system from inertia or similar despite the
motor stoppage while all operations (positioning, manual feed, homing, and pulse
operation) are stopped.
・ With the mechanical structure as shown on the next page, adjust the motor to stop
in the state as instructed in the figure.
(2) Next, set the backlash value to this parameter. The set value is a motor encoder pulse
or equivalent. In the case of the reference figure on the next page, the set value is
determined as follows.
Backlash compensation value = 16777216 [pulse] ×(θ/360°) : at 24 bit PG
(3) After the setting, check if the positioning is carried out without influence of backlash by
performing normal operation.
Setting range
-2000000000 to 2000000000 [unit amount]
Setting range
0 to 4000000 [pulse]
Automatic Operation Setting Parameters
CHAPTER 4 PARAMETER
Default value
2000000000
-2000000000
Default value
0
Change
Always
4
Change
Always
4-75