Mitsubishi Electric MELSEC-Q Series User Manual page 396

Backlash compensation after driver HPR method
When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module,
whether the backlash compensation is necessary or not is judged from "[Pr.44]
HPR direction" of the Simple Motion module in the axis operation such as
positioning after the driver HPR. When the positioning is executed in the same
direction as "[Pr.44] HPR direction", the backlash compensation is not executed.
However, when the positioning is executed in the reverse direction against "[Pr.44]
HPR direction", the backlash compensation is executed.
Note that the HPR is executed based on the HPR direction of the parameter of the
driver side during the driver HPR. Therefore, set the same direction to "[Pr.44]
HPR direction" of the Simple Motion module and the last HPR direction of the
driver side.
Restrictions of driver HPR method
(1) The HPR cannot be started with the Simple Motion module during servo-off.
(2) The servo input axis cannot be used during the HPR.
[Pr.300] Servo input axis type
1: Feed current value
2: Real current value
3: Servo command value
4: Feedback value
(3) To use the HPR method which uses the proximity dog signal and is not based
(4) Unlike other HPR methods, the HPR request flag ([Md.31] Status: b3) turns
Thus, the servo amplifier HPR method, Method 35 and 37 (Data set method),
cannot be executed during servo-off.
During the HPR, turn OFF "[Cd.380] Synchronous control start" of the output
axis which is synchronized.
When the HPR is used during the synchronous control, the axis operates as
follows depending on the servo input axis type.
Output axis operation during synchronous control
The synchronous control axis does not operate.
The axis synchronizes with the input axis before the HPR is completed. However,
the synchronous control is not executed at the end of the HPR and "Overspeed"
(alarm No.: 31) or "Command frequency error" (alarm No.: 35) may occur.
on the Z-phase, it is recommended to use the servo amplifier built-in DI.
OFF and the HPR complete flag ([Md.31] Status: b4) turns ON before BUSY
signal is turned OFF at HPR completion.
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Chapter 8 HPR Control