Omron SYSMAC C500-NC113 Operation Manual page 205

9-13 Backlash Compensation
Data Settings
Using Backlash
Compensation
Backlash compensation can be used to compensate for the amount of mechani-
cal play present in gears, particularly when the direction of positioning actions
changes. Although this explanation relates to the X axis, the same format is used
for the Y axis of the NC211.
There is only one parameter that needs to be set to compensate for backlash. (X
axis: 2009; Y axis: 6009).
Address 2009
Backlash compensation can correct the sort of mechanical interlocking error
shown in the illustration.
When the CW and CCW directions are reversed, the number of pulses set for the
backlash value are output at the rate corresponding to the initial speed, and then
normal control proceeds.
Compensation
If STOP is executed during backlash compensation for any operations requiring
acceleration or deceleration (HIGH-SPEED JOG, ORIGIN SEARCH, ORIGIN
RETURN, and START), the Unit will stop feeding immediately after outputting
the initial step of the acceleration or deceleration, which will include the backlash
compensation set above.
STOP executed
Compensation
Note Backlash compensation is not performed if the origin is not established.
3 2 1 0
x10 x10 x10 x10
4
x10
Backlash
1 ms max.
Stop position
Section
Set from 00000 to 99999 (BCD).
(Unit: pulses)
Time
Time
9-13