Omron R88D-KN ML2 Sries User Manual page 266

6-4 Backlash Compensation
 The backlash compensation status is retained when you switch from position control to speed
control or to torque control. When you switch back to position control, the backlash compensation
resumes the status retained during the previous position control.
 To determine the actual position of the Servomotor, offset the Servomotor position data acquired
via MECHATROLINK-II communications for the backlash compensation amount.
 A backlash compensation is performed on the first position command in the set directional
operation after the Servo-ON. Any prior operations in reverse direction are not compensated. But
the first reverse operation after the initial backlash compensation is compensated. A backlash
compensation is not performed twice or more 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-ON occurs again, backlash compensation is performed as described above.
Conditions for Clearing the Backlash Compensation
The backlash compensation is cleared to zero under any of the following conditions:
6
 When the position error is reset. This includes the cases of Serve OFF, and when the error counter
is reset by the drive prohibition input.
 When the position data is initialized. This excludes the commands of an origin return and a
coordinate system setup, but includes the commends of an equipment setup request and an
adjustment.
6-13
Precautions for Correct Use
Reference
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)