Backlash Compensation Function - YASKAWA MECHATROLINK Sigma 2 Series User Manual

Zero Point Return Approach Speed 2
Set the speed for searching for the zero point after the deceleration limit switch signal turns
ON or OFF for zero point returns.
Pn818
Final Travel Distance to Return to Zero Point
Set the distance from the encoder zero point (phase C) to the zero point for zero point
returns. When the direction is negative or the distance very short, a deceleration stop will be
performed and the movement begins again in the reverse direction.
Pn819

6.3.6 Backlash Compensation Function

Set the backlash compensation amount to perform backlash compensation.
Pn81B
Pn81D.0
The setting details are as follows:
Pn81D.0 Setting
The setting unit is 0.1 [reference unit], and the resolution is 1 [pulse].
The direction of the backlash compensation is determined by the backlash compensation
direction (Pn81D.0) setting.
The backlash compensation is performed according to the motion data. (The backlash com-
pensation is not available after the SERVOPACK is Servo ON.)
The backlash compensation is not available during Servo OFF state or overtravel state.
Zero point Return
Approach Speed 2
reference
Final Travel Distance to
Return to Zero Point
Reference
Backlash Compensation
Amount
0.1 reference
Backlash Compensation Direction
Meaning
0 Forward direction
1 Reverse direction
6-27
6.3 Settings According to Host Controller
Unit: Setting Factory
Range: Setting:
100
0 to 65535
units/s
Unit: Setting Factory
Range: Setting:
unit -1073741823
to
1073741823
Unit: Setting
Range:
unit -32768 to
32767
Factory Setting:
0
Position
Control
5
Position
Control
100
Factory Position
6
Setting: Control
0
Position Control