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AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l
Function
SMC_BacklashCompensation can be used to compensate for the backlash of drive belt devices or the transmission
box.
SMC_BACKLASH_MODE
Compensation mode
SMC_BL_NEGATIVE
SMC_BL_OFF
SMC_BL_POSITIVE
SMC_BL_AUTO
SMC_BACKLASH_STARTSTATE
The Initial State of the Master and Slave
SMC_BL_START_NEGATIVE
SMC_BL_START_NONE
SMC_BL_START_POSITIVE
When SMC_BacklashCompensation is run, even if the master axis is stationary, the function block will first
perform compensation based on the MC_BL_START_NONE and SMC_BACKLASH_MODE, in which
bCompensating will not turn to True.
The Initial State of the Master
and Slave Axes
SMC_BL_START_NONE
SMC_BL_START_POSITIVE
Axes
Compensation Mode
SMC_BL_POSITIVE
SMC_BL_NEGATIVE
SMC_BL_NEGATIVE
Description
Backlash compensation is only performed when the
axis is running in the opposite direction.
No backlash compensation
Backlash compensation is only performed when the
axis is running in the positive direction.
Backlash is compensationd regardless of the direction
in which the axis is running.
Description
Reverse traction is initially applied to the slave axis by
the master slave.
No traction is initially applied to the slave axis by the
master slave.
Positive traction is initially applied from the shaft to the
main shaft.
When the function block starts but the master
axis is stationary, the slave axis is first
compensationd forward to the fBacklash value
set. Assuming fBacklash = 10, after the function
block starts, the master axis position = 0, and
the slave axis position = 5.
When the function block starts but the master
axis is stationary, the slave axis is first
compensationd backwards to the fBacklash
value set. Assuming fBacklash = 10, after the
function block starts, the master axis position =
0, and the slave axis position = -5.
When the function block starts but the master
axis is stationary, the slave axis is first
compensationd backwards to the fBacklash
value set. Assuming fBacklash = 10, after the
function block starts, the master axis position =
0, and the slave axis position = -10.
Ch a p t er 2
Behavior Pattern
1 6 3
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