4 PARAMETERS FOR POSITIONING CONTROL

The travel value per motor rotation in this example is 0.000076[mm]. For example, when ordering the travel value of 19[mm], it becomes 249036.8[PLS] and the fraction of 0.8[PLS]. At this time, the Motion CPU orders the travel value of 249036[PLS] to the servomotor and the fraction is memorized in the Motion CPU.

Positioning is performed by seasoning the travel value with this fraction at the next positioning.

4.2.2Backlash compensation amount

(1)Backlash compensation amount can be set within the following range. (Refer to Section "7.2 Backlash Compensation Function" for details.)

0 Backlash compensation amount × Number of pulses per rotation (AP) (=A) 65535[PLS] Travel value per rotation (AL)

(2)The servo error may occur depending on the type of the servo amplifier (servomotor) or operation cycle even if the backlash compensation amount which fulfill the above condition.

Set the backlash compensation amount within the following range in order for servo error may not occur.

A

Maximum motor speed [r/min] × 1.2 × Encoder resolution [PLS] × Operation cycle [ms]

[PLS]

60[s] × 1000[ms]

 

 

4.2.3 Upper/lower stroke limit value

The upper/lower limit value for the travel range of the mechanical system is set.

 

 

 

 

 

 

 

 

Limit switch for

 

 

 

 

 

 

RLS

 

 

 

 

 

 

 

FLS emergency stop

 

(Travel range of the machine)

 

 

 

 

 

 

 

 

Stroke limit

Stroke limit

(lower)

(upper)

Fig. 4.3 Travel range at the upper/lower stroke limit value setting

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