Omron CS1W-NC113 Manual page 237

Backlash Compensation
9-8-2 Beginning Words of Operating Memory Area, Operating Data Area,
and Parameter Areas
9-8-3 Setting Axis Parameters
Parameter area for each axis
Data
NC113
X axis
Backlash m+16 m+44
compensation
Backlash m+17 m+45
compensation m+18 m+46
speed
9-8-4 Backlash Compensation Operation
Reciprocating Operation on One Axis
9-8-5 Backlash Compensation With Linear Interpolation
The beginning words of the operating memory area, operating data area, and
common parameter area used for a Position Control Unit (PCU) are determined
(or set) according to the following.
• Beginning word of the operating memory area, n = CIO 2000 + 10 × unit num-
ber
• Beginning word of the common parameter area, m = D20000 + 100 × unit num-
ber
• Beginning word of the operating data area, l, is specified in m and m+1.
Set the beginning words of the operating data area and designate the axis
parameters used with the common parameters as shown below.
Word
m
m+1
m+2
NC213 NC413
Y axis Z axis U axis
m+72 m+100
m+73 m+101
m+74 m+102
Speed
Backlash compensation can be set separately for each axis when two or more
axes are used for interpolation operations. While backlash compensation
pulses are being output, pulse outputs for all other interpolation operations are
stopped.
Name
Operating data 00 to 15
area designation
Beginning word of 00 to 15
operating data
area
Axis parameter 00 to 15
designation
Bit
15
00 to 15
Backlash compensation
Setting range:
00 to 15 15 Leftmost
(rightmost)
Backlash compensation speed
00 to 15
Setting range:
(leftmost)
00000000 to 0007A120 Hex
(0 to 500,000 pps)
Period of movement by
backlash compensation
Section
Bit Reference
Section 4
Data Configuration g
00
0000 to 270F Hex
(0000 to 9,999 pulses)
00 15 Rightmost
Time
9-8
00
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