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58

AX

DRIVE USER GUIDE

Determining

Backlash

You

can

measure

the

actual

backlash

with

the

following

procedure. The idea

is

to move

in

one direction, stop,

and

make

a series

of

one-step moves

in

the

opposite direction.

No

change

in

encoder position occurs while

the

indexer

takes

up

the

backlash. The

number

of motor

steps

counted before

any

encoder

counts

are received is

the

measure

of

the

backlash.

NOTE:

When

the

en.ccxier

is mounted directly

to

the

motor,

this is

mainly

a magnetic

backlash

(or hysteresis), othenvise.

gear

backlash

is

also measured.

Move

the

motor

in

one direction

and

clear

the

position

counters

with

the

following commands.

Command

FSB0

MN

A10

V1

06400

G

PZ

Description

Sets indexer

to

motor step

mode

Sets

Mode

normal

Sets

acceleration

to

10 revslsec

2

Sets

velocity

to

1

rps

Sets distance

to

6400 steps

Executes

the

move

(Go)

Sets absolute

pOSition

counter to zero

Now

execute a series of one-step moves

and

report

both

motor

and

encoder position each time:

Command

01

PS

L

G

1LF

1PR

T1.0

1LF

1PX

T1.0

N

C

Description

Sets distance

to

1 step

Pauses execution

of

the following commands

until

the

indexer receives

the

Continue

(C)

command

Causes the sequence

to

repeat

Executes

the

move

(Go)

Sends a line feed

Reports absolute motor position

in

motor steps

Pauses the motor for 1 second

Sends a line feed

Reports the number

of

encoder pulses (steps)

that the encoder has received since

the

Position

Zero

(PZ)

command

was

issued

Pauses the motor for 1 second

Ends

the

loop

Clears pause

and

executes

the

move

While

this

command

string

is

running, you

may

compare

the

position

reports

from

the

Position Report

(PR)

command

and

the

Report Absolute Encoder POSition

(PX)

command. The

IPR

report

represents

the

number

of motor

steps

traveled,

and

the IPX report represents

the

number

of encoder

steps

traveled. When

the

response from the

IPX

command changes

from

0 to

I,

note

the

response from

the

IPR

command. This

IPR

command report

is

the

actual

backlash

of

your

system.

To

use

the

AX's

stall detection function,

set

the

Dead

Band

Window

(DW)

command

equal to

the

value of

the

backlash

determined above

and

then

Enable Stall Detect (FSH1).

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