Caution, 46 and 64, When servo is on – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual

Page 218

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5.8 Additional Adjustment Function

5-65

5

Adjustm

e

nts

When Servo is ON

The backlash compensation value (Pn231) is added in the compensation direction when the servo is ON (i.e.,

the servomotor is powered) and a reference is input in the same direction as the backlash compensation direc-
tion (Pn230.0). If there is a reference input in the direction opposite to the backlash compensation direction,

the backlash compensation value is not added (i.e., backlash compensation is not performed).

The relationship between APOS and the servomotor shaft position is as follows:

• If a reference is input in the compensation direction: APOS = Motor shaft position - Pn231
• If a reference is input in the direction opposite to the compensation direction: APOS = Motor shaft position

The following figure shows driving the servomotor in the forward direction from target position TPOS0 to

TPOS1 and then to TPOS2, and then returning from TPOS2 to TPOS1 and then to TPOS0.

Backlash compensation is applied when moving from TPOS0 to TPOS1, but not when moving from TPOS2 to

TPOS1.

CAUTION

• The encoder output pulse will output the number of encoder pulses for which driving was actually per-

formed, including the backlash compensation value. If using the encoder output pulse for position feed-

back at the host controller, must consider the backlash compensation value.

Machine axis

Motor axis

Machine axis

Pn231

Travel distance

Travel distance

Target position

TPOS0

Travel distance

Travel distance

Target position

TPOS1

Target position

TPOS2

Machine axis

Motor axis

Machine axis

Pn231

Travel distance

Travel distance

Travel distance

Travel distance

Motor axis

Motor axis

POS

APOS

Backlash (= Pn231)

POS

APOS

Backlash (= Pn231)

Servo ON

If a reference is input
in the direction opposite
to the compensation direction

If a reference is input
in the compensation
direction

46 and 64

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