MDS-E/EH Series Instruction Manual
5 Servo Adjustment
294
IB-1501229-F
5.4.4 Full-closed Torsion Compensation Function
This function performs compensation by setting the torsion compensation amount based on the distance between the
motor-end position and the machine-end position when the direction is reversed. Setting the torsion compensation
amount in addition to the conventional lost motion compensation enables to reduce the distance from the machine end
and smooth the tracking to the position command. When "SV116/bit1" is set to "1", compensation is performed not only
in the reverse direction but also in the forward direction. Compensation in the forward direction performs the starting
torque compensation by restoring the torsion compensation amount based on the distance between the motor-end
position and the machine-end position when stopped.
< Movement of machine end/motor end in the reverse direction >
< Movement of machine end/motor end in the forward direction >
CAUTION
Always readjust the lost motion compensation when setting the torsion compensation amount (SV206).
Table
Servo
motor
Position droop
Position control
Position
command
Torsion
compensation
amount (SV206)
Speed command
Motor-end position FB
Machine-end position FB
Full-closed torsion compensation
When the direction
is reversed
Motor end
Machine end
Torsion
amount
Torsion of the
reverse direction
Required compensation amount =
Torsion compensation amount
(SV206)
Reverse
Motor end
Machine end
Torsion
amount
Movement stop Movement restart
Torsion retract amount
Motor end (without compensation)
Machine end (without compensation)
The torsion is gradually cleared
during the stop.
Determine the compensation amount
in the forward direction restart from
the torsion retract amount of the
motor-end position from when
movement is stopped.
If the torsion is large, the response of
machine-end position may be delayed
when no compensation is performed.
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