Delta AX Series Instruction Manual page 165

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
2.2.17 SMC_BacklashCompensation
Supported Devices: AX-308E, AX-8, AX-364E

SMC_BacklashCompensation is used to compensate for the backlash of gears.
FB/FC Instruction
FB SMC_BacklashCompensation
SMC_BacklashCompensation_instance(
Master : =,
Slave : =,
bExecute : =,
fBacklash : =,
fCompensationVel : =,
fCompensationAcc : =,
fCompensationDec : =,
fCompensationJerk : =,
eBacklashMode : =,
eBacklashStartState : =,
bBusy =>,
bCommandAborted =>,
bError =>,
iErrorID =>,
bCompensating => );
Inputs

Name
bExecute
fBacklash
fCompensationVel
fCompensationAcc
fCompensationDec
fCompensationJerk
Function Data Type
The instruction is
run when bExecute
changes from False
to True.
The backlash
distance to be
compensated
The speed when
compensating for
backlash
The acceleration
when compensating
for backlash
The deceleration
when compensating
for backlash
The jerk when
Graphic Expression
ST Language
Setting Value
(Default Value)
BOOL
LREAL Positive, negative, or 0
LREAL Positive or 0
Positive or 0
LREAL
Positive or 0
LREAL
LREAL Positive or 0
True/False
(False)
Ch a p t er 2
Timing to Take Effect
-
When bExecute
changes from False
to True
When bExecute
changes from False
to True
When bExecute
changes from False
to True
When bExecute
changes from False
to True
When bExecute
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