Omron R88M-W60010T User Manual page 324

Operation
4-7-12 Backlash Compensation (Position)
Parameters Requiring Settings
■
Parameter Parameter name
No.
Pn207.2 Position control set-
tings 2 -- Backlash
compensation selec-
tion
Pn214 Backlash compensa-
tion amount
Pn215 Backlash compensa-
tion time constant
When Pn207.2 = 1
■
• Executes in the forward direction the amount of backlash compensation set in Pn214.
Machinery
Servomotor axis
Machinery
Servomotor axis
When Pn207.2=2
■
• Executes in the reverse direction the amount of backlash compensation set in Pn214.
Machinery
Servomotor axis
4-128
Explanation
To execute backlash compensation in the for-
ward command direction, set Pn207.2 to 1 (For-
ward compensation). To execute backlash
compensation in the reverse command direc-
tion, set Pn207.2 to 2 (Reverse compensation).
Set the compensation amount in command
units.
Setting range: − 32,767 to 32,767 (command
units)
Set the time constant for backlash compensa-
tion.
Setting range: 0 to 65,535 ( × 0.01 ms)
Forward
Reverse
Machinery
Servomotor axis
Chapter 4
Reference
4-3-3 Parameter
Details
4-3-3 Parameter
Details
4-3-3 Parameter
Details