Omron trajexia CJ1W-MCH72 Operation Manual page 113

All BASIC commands
4-2-37 BACKLASH
4-2-38 BACKLASH_DIST
102
/i
Type Axis command
Syntax BACKLASH(on/off, distance, speed, accel)
Description The BACKLASH command allows the parameters for the backlash
compensation to be loaded. The backlash compensation is achieved as
follows:
• An offset move is applied when the motor demand is in one direc-
tion.
• The offset move is reversed when the motor demand is in the oppo-
site direction.
These moves are superimposed on the command axis movements.
The backlash compensation is applied after a change in the direction of
the DPOS parameter. The backlash compensation can be seen in the
TRANS_DPOS parameter, which is equal to DPOS + backlash com-
pensation.
Arguments • on/off
Either ON or OFF.
• distance
The offset distance, expressed in user units.
• speed
The speed of the compensation move, expressed in user units.
• accel
The acceleration or deceleration rate of the compensation move,
expressed in user units.
Example BACKLASH(ON,0.5,10,50) AXIS(0)
BACKLASH(ON,0.4,8,50) AXIS(1)
This applies backlash compensation on axes 0 and 1.
See also DPOS, TRANS_DPOS.
/i
Type Axis parameter
Syntax BACKLASH_DIST
Description BACKLASH_DIST is the amount of backlash compensation that is
applied to the axis when BACKLASH = ON.
Arguments N/A
Example IF BACKLASH_DIST>100 THEN
OP (10, ON) ' show that backlash compensation reached this
value
ELSE
OP (10, OFF)
END IF
See also BACKLASH
Section 4-2