Functions For Compensating The Control; Backlash Compensation Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

8.2
The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and
"near pass function". Each function is executed by parameter setting or program creation and writing.

Backlash compensation function

The "backlash compensation function" compensates the backlash amount in the mechanical system.
Control details
When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is
output every time the movement direction changes.
The following drawing shows the operation of the backlash compensation function.
Precautions during control
• The feed command of the backlash compensation amount are not added to "[Md.20] Feed current value" or "[Md.21]
Machine feed value".
• Always carry out a machine home position return before starting the control when using the backlash compensation
function (when "[Pr.11] Backlash compensation amount" is set). The backlash in the mechanical system cannot be correctly
compensated if a machine home position return is not carried out.
• Backlash compensation, which includes the movement amount and "[Pr.11] Backlash compensation amount", is output the
moment at the moving direction changes.
• Backlash compensation cannot be made in the speed control mode, torque control mode, or continuous operation to torque
control mode.
• In an axis operation such as positioning after home position return, whether the backlash compensation is necessary or not
is judged from "[Pr.44] Home position return direction" of the Motion module. When the positioning is executed in the same
direction as "[Pr.44] Home position return direction", the backlash compensation is not executed. However, when the
positioning is executed in the reverse direction against "[Pr.44] Home position return direction", the backlash compensation
is executed.
8 CONTROL SUB FUNCTIONS
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8.2 Functions for Compensating the Control

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Functions for Compensating the Control
Worm gear
Workpiece
[Pr.11] Backlash compensation amount
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