Omron R88D-KN series User Manual page 222

7 Applied Functions
Precautions for Correct Use Precautions for Correct Use
• When the mode of operation is switched from the Position Control Mode to the Speed/Force
Control Mode, the backlash compensation state is retained as it is. Therefore, after returning
to the Position Control mode again, the Servo Drive will restart with the backlash
compensation state set in the previous Position Control Mode.
• To determine the actual position of the motor, offset the motor position data acquired via
EtherCAT communications by the backlash compensation amount.
• Backlash compensation is performed on the first position command in the set direction after
the servo is turned ON. Any prior operations in the opposite direction are not compensated.
But the first reverse operation after the initial backlash compensation is compensated.
Backlash compensation is not performed again as long as the operation continues in the same
direction.
• Until the output of backlash compensation is distributed completely, do not perform position
data latching/initialization or control mode switching operation.
• When the servo is turned OFF while backlash compensation is performed, the position
command data of the Servo Drive is preset with the Linear Motor position data that includes
the backlash compensation amount. When the servo is turned ON again, backlash
compensation is performed as described above.
• Be sure to change objects related to backlash compensation when the servo is OFF.
Additional Information
Conditions for Clearing Backlash Compensation
• When the position error is reset. This includes when the servo is turned OFF, and when the
error counter is reset for the drive prohibition input.
• When the position data is initialized, except for the homing operation in Homing mode (hm).
This includes Config (4100 hex).
7-14 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type