YASKAWA MECHATROLINK Sigma 2 Series User Manual page 145

6 Parameter Setting and Functions
6.3.6 Backlash Compensation Function
When Pn81D.0 is set to 0
The compensation is performed for the compensation amount (the value set to Pn81B) in the
forward direction.
Machine
Motor axis
When Pn81D.0 is set to 1
The compensation is performed for the compensation amount (the value set to Pn81B) in the
reverse direction.
Machine
Motor axis
BL
BL
6-28
Forward direction
BL
Forward direction
BL