5 Adjustments5.8.6 Backlash Compensation Function5-645.8.6 Backlash Compensation Function(1) OverviewWhen driving a machine with backlash, there will be a deviation between the travel distance in the positionreference that is managed by the host controller and the travel distance of the actual machine. Use backlashcompensation function to add the backlash compensation value to the position reference and use the result todrive the servomotor. This means that the travel distance of the actual machine will be the same as the traveldistance in the host controller.Note 1. This function is supported only for position control.2. Software version 0023 or higher is required to use this function. You can confirm the software version in Fn012.For details, refer to 6.14 Software Version Display (Fn012).(2) Related ParameterSet the following parameter to use backlash compensation. Backlash Compensation DirectionSet the direction in which to apply backlash compensation. Backlash Compensation ValueSet the amount of backlash compensation to add to the position reference.The amount is set in increments of 0.1 reference unit. However, when the amount is converted to encoderpulses, it is rounded off at the decimal point.Example: If Pn231 is set to 6,553.6 [reference unit] and the electronic gear ratio (Pn20E/Pn210) is set to 4/1,then the pulse equivalent is 6,553.6 × 4 = 26,214.4 [pulses].The backlash compensation value will be 26,214 encoder pulses.Backlash (play due to mechanical precision)Backlash compensation valueReference forwardrotational directionMachine axisMotor axisMotor axisMachine axis (e.g. table)Travel distance byposition referenceTravel distanceby position referenceParameter Function When Enabled ClassificationPn230n. 0[Factorysetting]Compensates with a reference in the forward direc-tion. After restart Setupn. 1 Compensates with a reference in the reverse direc-tion.Pn231Backlash compensation value ClassificationSetting Range Setting Unit Factory Setting When Enabled-500000 to 500000 0.1 referenceunit 0 Immediately SetupPosition
