111
4. Parameter description
Parameter
●
Backlash countermeasures:
What is the Backlash compensation?
Reduction gears have an engagement gap and have a dead zone between forward rotation and
reverse rotation. This dead zone is called backlash, and this gap disables a mechanical system from
following motor rotation.
More specifically, a motor shaft develops excessive torque when the direction of rotation changes or
when constant-speed operation shifts to deceleration, resulting in a sudden motor current increase or
regenerative status.
To avoid backlash, acceleration/deceleration is temporarily stopped. Set the
acceleration/deceleration stopping frequency and time in P.229 to P.233.
Note: When set a backlash compensation,
acceleration
/deceleration time only in part time longer.
4.55 Triangular wave function
(
P.234~P.239
)
P.234
“
Triangular wave function selection
”
P.235
“
Maximum amplitude
”
P.236
“
Amplitude compensation for deceleration
”
P.237
“
Amplitude compensation for acceleration
”
P.238
“
Amplitude acceleration time
”
P.239
“
Amplitude deceleration time
”
Parameter
Factory setting
Setting range
Remarks
234
0
0~2
---
235
10.0%
0~25.0%
---
236
10.0%
0~50.0%
---
237
10.0%
0~50.0%
---
238
10.00 s
0~360.0 s/0~3600s
239
10.00 s
0~360.0 s/0~3600s
If P.21=0, minimum increments of
P.238 and P.239 is 0.01 seconds.
If P.21=1, minimum increments of
P.238 and P.239 is 0.1 seconds.
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