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Lost motion compensation timing ([Pr. PE49])
The delay time of the lost motion compensation start timing is set with this parameter. When a protrusion occurs belatedly, set
the lost motion compensation timing corresponding to the occurrence timing of the protrusion.
Lost motion compensation non-sensitive band ([Pr. PE50])
When the travel direction reverses frequently around the zero speed, unnecessary lost motion compensation is triggered by
the travel direction being switched. By setting the lost motion compensation non-sensitive band, the speed is recognized as 0
when the fluctuation of the droop pulse is the setting value or less. This prevents unnecessary lost motion compensation.
When the value of this parameter is changed, the compensation timing is also changed. Therefore re-adjust the value of the
lost motion compensation timing ([Pr. PE49]).
Lost motion filter setting ([Pr. PE46])
Usually the lost motion filter setting does not need to be changed. When a value other than 0.0 [ms] is set in this parameter,
the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation amount
continues.
Method for the lost motion compensation adjustment
Adjust the lost motion compensation with the following procedure.
Measure the torque
Measure the torque in the forward direction feed and reverse direction feed, by using MR Configurator2.
Setting the lost motion compensation amount
Calculate the friction torque from the torque measurement result, and then set a value twice the friction torque in [Pr. PE44]
and [Pr. PE45] as the lost motion compensation amount.
|(Torque in forward direction feed [%]) - (Torque in reverse direction feed [%])|
Friction torque [%] =
Checking protrusions
Drive the servo motor and check that the protrusions are corrected.
Adjusting the lost motion compensation amount
If the projections are still found, the compensation is insufficient. Increase the lost motion compensation amount by
approximately 0.5 % until no projection is generated. If notches are generated, the compensation is excessive. Decrease the
lost motion compensation amount by approximately 0.5 % until no notch is generated. Different compensation values can be
set for:
1) When the forward rotation (CCW) switches to the reverse rotation (CW)
2) When the reverse rotation (CW) switches to the forward rotation (CCW)
Travel direction
Trace before compensation
11 PATH CONTROL FUNCTION
100
11.2 Lost motion compensation function
2
Compensation
Trace after compensation
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