YASKAWA SGD7S-****20A Series Product Manual

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YASKAWA SGD7S-****20A Series Product Manual Manual pdf 354 page image

8.12 Additional Adjustment Functions8.12.8 Backlash Compensation8-76 Backlash Compensation Time ConstantYou can set a time constant for a first order lag filter for the backlash compensation value(Pn231) that is added to the position reference.If you set Pn233 (Backlash Compensation Time Constant) to 0, the first order lag filter is dis-abled.Note: Changes to the settings are applied when there is no reference pulse input and the Servomotor is stopped.The current operation is not affected if the setting is changed during Servomotor operation.Related MonitoringYou can monitor the following values on the operation monitor of the SigmaWin+.Compensation OperationThis section describes the operation that is performed for backlash compensation.Note: The following figures are for when backlash compensation is applied to references in the forward direction(Pn230 = n.0). The following monitor information is provided in the figures: TPOS (target position in thereference coordinate system), POS (reference position in the reference coordinate system), and APOS (feed-back position in the machine coordinate system). The monitor information includes the feedback position inmachine coordinate system (APOS) and other feedback information.The backlash compensation value is subtracted from the feedback positions in the monitor information, so itis not necessary for the host controller to consider the backlash compensation value.• The backlash compensation value is restricted by the following formula. Backlash compensa-tion is not performed if this condition is not met.*Refer to the following section for the encoder resolution.5.15 Electronic Gear Settings on page 5-42With fully-closed loop control, substitute the number of external encoder pulses per motor rotationfor the encoder resolution in the above formula.Example 1:Pn20E = 4, Pn210 = 1, Maximum motor speed = 6,000 [min -1 ], and Encoder resolution =16,777,216 (24 bits)1/4 × 6,000/60 × 16,777,216 × 0.00025 = 104,857.6 [reference units] The backlash compensation will be limited to 104,857.6 reference units.Example 2:Pn20E = 4, Pn210 = 1, Maximum motor speed = 6,000 [min -1 ], Number of External EncoderScale Pitches (Pn20A) = 500, and Use of the JZDP-H00-000 (signal resolution: 1/256):1/4 × 6,000/60 × (500 × 256) × 0.00025 = 800.0 [reference units] The backlash compensation will be limited to 800.0 reference units.• Do not exceed the upper limit of the backlash compensation value. You can check the upperlimit on the operation monitor of the SigmaWin+.Pn233Backlash Compensation Time ConstantSetting Range Setting Unit Default Setting When Enabled Classification0 to 65,535 0.01 ms 0 Immediately SetupDisplayed Value Setting UnitCurrent Backlash Compensation Value 0.1 reference unitsBacklash Compensation Value Setting Limit 0.1 reference unitsImportantPn231 ≤ Pn210Pn20E 60 Maximum motor speed [min -1 ]  Encoder resolution*  0.00025Position