Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 191)

5.8 Additional Adjustment Function
5-81
5
Adjustments
When Servo is OFF
Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered).
Therefore, the reference position POS moves by only the backlash compensation value.
The relationship between APOS and the servomotor shaft position is as follows:
• When servo is OFF: APOS = Servomotor shaft position
The following figure shows what happens when the servo is turned OFF after driving the servomotor in the
forward direction from target position TPOS0 to TPOS1. Backlash compensation is not applied when the
servo is OFF (i.e., the SERVOPACK manages the position data so that APOS and POS are the same).
When There is Overtravel
When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or software limit), the
operation is the same as for When Servo is OFF , i.e., backlash compensation is not applied.
When Control is Changed
Backlash compensation is performed only for position control.
Backlash compensation is not applied if changing from position control to any other type of control.
Backlash compensation is applied in the same way as
When Servo is ON if changing from any other type of
control to position control.
(5) Monitor Functions (Un Monitoring)
Machine axis
Motor axis
Machine axis
Pn231
Travel distance
Target position
TPOS0
Travel distance
Target position
TPOS1
Motor axis
POS
APOS
Backlash 䋨 = Pn231 䋩
Servo OFF
Status with no backlash
compensation POS = APOS
MECHA
Un No. Displayed Information Unit Specification
Un007 Input reference speed min
-1
Indicates the input reference speed before backlash
compensation.
Un008 Position error amount Reference unit
Displays the position error with respect to the position
reference after backlash compensation.
Un00C Input reference counter Reference unit
Displays the input reference counter before backlash
compensation.
Un00D Feedback pulse counter Encoder pulse
Displays the pulse count of the actually driven motor
encoder.
Un013 Feedback pulse counter Reference unit
Displays the pulse count of the actually driven encoder
in reference units.