Backlash Compensation; Outline Of Operation - Omron CS1W-NC113 Manual

Backlash Compensation

Example 4: Origin adjustment command output turned ON in operating mode 3 (only while pulses
stopped)
Origin
adjustment
command output
(word n, bit 13)
Pulse output
Busy Flag
(word n+8, bit 13)
Origin adjustment
command output
(PCU output signal)
(A10/A11 on X axis)
9-8 Backlash Compensation

9-8-1 Outline of Operation

226
Speed
"Backlash" means the play between the driving axis and the mechanical system
being driven. If there is backlash in positioning from the positive or negative
direction it will cause a discrepancy of the same magnitude in the positioning.
Backlash compensation is used to make this discrepancy as small as possible.
Positioning from
positive side
Driven side
Drive side
In the above diagram, after positioning from the positive side, backlash is com-
pensated for up to the amount of the output of pulses set for the backlash com-
pensation either when positioning in the negative direction or when the position-
ing direction (pulse output direction) is reversed.
With this PCU, the backlash compensation and backlash compensation speed
can be designated by parameters.
The backlash compensation operation is used after the origin has been estab-
lished. If the backlash compensation speed is set to "0," compensatory output is
made at the initial speed. If the initial speed is below 250 pps, the compensatory
speed is output at 250 pps.
Time
Backlash
Positioning from positive side:
Position on drive side =
position on driven side
Positioning from negative side:
Position on drive side =
position on driven side --
amount of backlash
compensation
Positioning from negative side
Same position
Section 9-8