Backlash Compensation - Omron R88D-KN01L-ECT-L User Manual

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Backlash Compensation

The function compensates for backlash for position control.
Additional Information
The Servo Drive supports this function although backlash never occurs in a Linear Motor.
Objects Requiring Settings
Index
3704 hex Backlash Compensation
Selection
3705 hex Backlash Compensation
Amount
3706 hex Backlash Compensation
Time Constant
Backlash Compensation Selection (3704 hex)
This object is used to select whether to enable or disable backlash compensation during position
control, and to set the compensation direction.
Set value
0 Disable backlash compensation.
1 Compensate for backlash at the first positive movement
after the servo is turned ON.
2 Compensate for backlash at the first negative movement
after the servo turns ON.
Setting Method
The backlash compensation works in different directions depending on the setting in the Backlash
Compensation Selection (3704 hex) and on whether the set value for the Backlash Compensation
Amount (3705 hex) is positive or negative.
3704 hex 3705 hex contains a positive value
1 Compensate in a positive direction during
positive movement.
2 Compensate in positive direction when it is
in negative movement.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Name
Select whether to enable or disable backlash
compensation during position control. Set the
compensation direction.
Set the backlash compensation amount during
position control.
Set the backlash compensation time constant during
position control.
Description
7 Applied Functions
Description
3705 hex contains a negative value
Compensate in a negative direction during
positive movement.
Compensate in negative direction when it is
in negative movement.
Reference
P. 9-55
P. 9-55
P. 9-56
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