Omron R88M-K Series User Manual page 297

Precautions for Correct Use
To determine the actual position of the Servomotor, offset the Servomotor position data acquired
via EtherCAT communications by the backlash compensation amount.
Backlash compensation is performed on the first position command in the set direction after the
servo is turned ON. Any prior operations in the opposite direction are not compensated. But the
first reverse operation after the initial backlash compensation is compensated. Backlash
compensation is not performed again as long as the operation continues in the same direction.
When the Servo OFF status occurs while backlash compensation is performed, the backlash
compensation amount is cleared. This is done by presetting the position command data of the
Servo Drive to the Servomotor position data that includes the backlash compensation amount.
When the servo is turned ON again, backlash compensation is performed as described above.
Reference
Conditions for Clearing Backlash Compensation
Backlash compensation is cleared to zero under any of the following conditions:
When the position error is reset. This includes when the servo is turned OFF, and when the error
counter is reset for the drive prohibition input.
When the position data is initialized. This excludes commands for an origin return and coordinate
system setup, but includes commands for an equipment setup request and adjustment.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
7-4 Backlash Compensation
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