Omron C200H-MC221 Operation Manual page 60

Backlash Compensation
46
Backlash compensation is a function to register the backlash space within a
range of 0 to 999 pulses to minimize the positioning errors of machines moving in
the forward or reverse direction to the same position as shown in the following.
Positioning in the
forward direction
Different positions
of the driving axes
No difference in position between machines
Positioning in the reverse direction
(considering the backlash)
Section 5-9