Omron CS1W-NC113 Manual page 89

Axis Parameter Area
Bit Configuration
Settings
Explanation
Backlash Compensation Speed
Word Address and
Enable Timing
Bit Configuration
Settings
Explanation
Acceleration/Deceleration Curve
Word Address and
Enable Timing
76
The bit configuration for the word addresses in the above table is shown below.
15
The backlash compensation can be set to any value in the following range:
0000 to 270F Hex (0 to 9,999 pulses)
The default setting is 0000 (0).
This setting specifies the amount of backlash compensation (in pulse units). The
backlash compensation is set in the range 0 to 9,999 pulses as 16-bit unsigned
data. If the backlash compensation is set to anything other than 0, backlash
compensation will be performed by outputting the set number of pulses at the
backlash compensation speed. For details on backlash compensation opera-
tion, refer to 9-8 Backlash Compensation.
The word addresses and enable timing for the backlash compensation speed
setting are shown below.
Word
(PCU internal address)
NC1j3 NC2j3
X axis Y axis Z axis
m+17 m+45 m+73
(0011) (002D) (0049)
m+18 m+46 m+74
(0012) (002E) (004A)
The bit configuration for the word addresses in the above table are shown below.
15
Backlash compensation speed (leftmost word) (Hex) Backlash compensation speed (rightmost word) (Hex)
The backlash compensation speed can be set to any speed in the following
range:
00000000 to 0007A120 Hex (0 to 500,000 pps)
The default setting is 00000000 (0).
This setting specifies the speed for outputting the backlash compensation (in
pps units). The backlash compensation speed is set in the range 0 to
500,000 pps using two words (the leftmost word and the rightmost word) as
32-bit unsigned data. If the backlash compensation is set to anything other than
0, and the backlash compensation speed is set to 0, backlash will be performed
at the initial speed or 250 pps, whichever is the greater. For details on backlash
compensation operation, refer to 9-8 Backlash Compensation.
The word address and enable timing for the acceleration/deceleration curve set-
ting is shown below.
Backlash compensation (Hex)
Name
NC4j3
U axis
m+101 Backlash
(0065) compensation
speed (rightmost
word)
m+102 Backlash
(0066) compensation
speed (leftmost
word)
00 15
Section 4-3
00
Enable timing
With operating
command
00