Specifications

II Parameters
Servo Parameters
II - 129
【#2216】 SV016 LMC1 Lost motion compensation 1
Set this parameter when the protrusion (that occurs due to the non-sensitive band by
friction, torsion, backlash, etc.) at quadrant change is too large. This sets the compensation
torque at quadrant change (when an axis feed direction is reversed) by the proportion (%) to
the stall torque. Whether to enable the lost motion compensation and the method can be set
with other parameters.
Type 2: When SV027/bit9, 8=10 (Compatible with obsolete type)
Set the type 2 method compensation torque. The standard setting is double the friction
torque.
Related parameters: SV027/bit9,8, SV033/bitF, SV039, SV040, SV041, SV082/bit2
Type 3: When SV082/bit1=1
Set the compensation torque equivalent of dynamic friction amount of the type 3 method
compensation amount. The standard setting is double the dynamic friction torque.
Related parameters: SV041, SV082/bit2,1, SV085, SV086
To vary compensation amount according to the direction.
When SV041 (LMC2) is "0", compensate with the value of SV016 (LMC1) in both +/-
directions.
If you wish to change the compensation amount depending on the command direction,
set this and SV041 (LMC2).
(SV016: + direction, SV041: - direction. However, the directions may be opposite
depending on other settings.)
When "-1" is set, the compensation will not be performed in the direction of the command.
---Setting range---
-1 to 200 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 20000 (Stall
current 0.01%).