Mitsubishi Electric MELSEC iQ-R Series User Manual page 40

Backlash compensation after the driver home position return method
When "[Pr.11] Backlash compensation amount" is set in the Motion module, whether the backlash compensation is necessary
or not is judged from "[Pr.44] Home position return direction" of the Motion module in the axis operation such as positioning
after the driver home position return. 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.
Note that the home position return is executed based on the home position return direction of the parameter of the driver side
during the driver home position return. Therefore, set the same direction to "[Pr.44] Home position return direction" of the
Motion module and the last home position return direction of the driver side.
Restrictions
• The home position return cannot be started with the Motion module during servo-off. Thus, the servo amplifier home
position return method, Method 35 and 37 (Data set method), cannot be executed during servo-off.
• When the home position return is used during the synchronous control, the output axis performs the following operations
based on the type of the servo input axis.
[Pr.300] Servo input axis type
1: Feed current value
3: Servo command value
2: Real current value
4: Feedback value
• If "[Pr.300] Servo input axis type" is set to "2: Real current value" or "4: Feedback value" and "[Pr.301] Servo input axis
smoothing time constant" or "[Pr.302] Servo input axis phase compensation advance time" is set to a value other than "0",
a warning "Input axis speed display over" (warning code: 0E42H) may occur.
2 HOME POSITION RETURN CONTROL
38
2.2 Machine Home Position Return
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Output axis operation during synchronous control
Continues synchronous control after home position return completion.
Synchronizes with the input axis until home position return completion, following which servo alarm
"AL.031.1_Servo motor speed error" or "AL.035.1_Command frequency error" may occur and synchronous
control may not be performed.
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