Mitsubishi Electric MELSEC-Q Series User Manual page 624

[2] The method for compensating the error
When the position control is carried out using the "Electronic gear" set in a
parameter, this may produce an error between the command movement amount
(L) and the actual movement amount (L'). With Simple Motion module, this error
is compensated by adjusting the electronic gear. The "Error compensation
amount", which is used for error compensation, is defined as follows:
Error compensation amount =
The electronic gear including an error compensation amount is shown
below.
AP

AL  AM
Simple Motion module
Control
Command
unit
value
Simple Motion module
Command Control
value unit
Calculation example
(Conditions)
Number of pulses per rotation (AP)
Movement amount per rotation (AL)
Unit magnification (AM)
(Positioning results)
Command movement amount (L)
Actual movement amount (L')
(Compensation value)
AP

AL  AM
Number of pulses per rotation (AP')
Movement amount per rotation (AL') : 5050.0
Unit magnification (AM')
Set the post-compensation "[Pr.2] Number of pulses per rotation (AP')",
"[Pr.3] Movement amount per rotation (AL')", and "[Pr.4] Unit magnification
(AM')" in the parameters, and write them to the Simple Motion module.
The set details are validated at the rising edge (OFF
READY signal [Y0].
Command movement amount (L)
Actual movement amount (L')
L AP'
=
L' AL'  AM'
AP
AL AM
1 if there is no error (in regular case)
Electronic gear taking an error
into consideration
AP'
AL' AM'
: 100 [mm]
: 101 [mm]
L 4194304 100

=
5000.0  1
L' 101
13 - 20
Chapter 13 Control Sub Functions
Servo
L
PLS
amplifier
L'
Servo
PLS
amplifier
: 4194304 [PLS]
: 5000.0 [  m]
: 1
4194304 (AP')
=
5050 (AL')  1(AM')
: 4194304 ............ [Pr.2]
............... [Pr.3]
: 1 ........................ [Pr.4]
ON) of the PLC