Mitsubishi Electric MELSEC iQ-R Series User Manual page 426

[Pr.11] Backlash compensation amount
The error that occurs due to backlash when moving the machine via gears can be compensated.
(When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time
the direction changes during positioning.)
[Pr.44] Home position return direction
• The backlash compensation is valid after machine home position return. Thus, if the backlash compensation amount is set
or changed, always carry out machine home position return once.
• "[Pr.2] Number of pulses per rotation(AP)", "[Pr.3] Movement amount per rotation(AL)", "[Pr.4] Unit magnification(AM)" and
"[Pr.11] Backlash compensation amount" which satisfies the following (1) can be set up.
([Pr.11] Backlash compensation amount) × ([Pr.2] Number of pulses per rotation (AP))
0 ≤
([Pr.3] Movement amount per rotation (AL)) × ([Pr.4] Unit magnification (AM))
The error "Backlash compensation amount error" (error code: 1BA0H) occurs when the setting is outside the range of
calculation result of (1).
A servo alarm (error code: 2031, 2035, etc.) may occur by kinds of servo amplifier (servo motor), load inertia moment and the
amount of command per operation cycle (Motion module) even if the setting is within the range of calculation result of (1).
Reduce the setting value of "[Pr.11] Backlash compensation amount" if a servo alarm occurs. Use the value of the following
(2) as a measure that a servo alarm does not occur.
(Maximum motor speed (r/min)) × (Encoder resolution (pulse/rev)) × (Operation cycle (ms))
≤
A
The backlash compensation amount is all outputted in one operation cycle.
[Pr.1] setting value
0: mm
1: inch
2: degree
3: pulse
*1 0 to 32767: Set as a decimal
32768 to 65535: Convert into hexadecimal and set
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 398 Positioning parameters: Detailed parameters 1
12 DATA USED FOR POSITIONING CONTROL
424
12.3 Basic Setting
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Workpiece
(moving body)
Worm gear
Backlash
(compensation amount)
60 (s) × 1000 (ms)
Value set with the engineering tool (unit)
0 to 6553.5 (m)
0 to 0.65535 (inch)
0 to 0.65535 (degree)
0 to 65535 (pulse)
search engine
(= A) ≤ 4194303 (pulse): (1)
(round down after decimal point)
(pulse): (2)
Value set with a program (unit)
-1
0 to 65535 (  10 m)
-5
0 to 65535 (  10
inch)
-5
0 to 65535 (  10
degree)
0 to 65535 (pulse)
*1