Backlash Compensation; Outline Of Operation - Omron CJ1W-C113 - REV 02-2008 Operation Manual

Backlash Compensation

Example 4: Origin adjustment command output turned ON in operating mode 3 (only while pulses
stopped)
Origin
adjustment
command output
(word n, bit 13)
Pulse output
Busy Flag
(word n+8, bit 13)
X-axis origin
adjustment command
output
(PCU output signal)
9-8

Backlash Compensation

9-8-1

Outline of Operation

256
Speed
"Backlash" means the play between the driving axis and the mechanical sys-
tem being driven. If there is backlash in positioning from the positive or nega-
tive direction it will cause a discrepancy of the same magnitude in the
positioning. Backlash compensation is used to make this discrepancy as
small as possible.
Positioning from
positive side
Driven side
Drive side
In the above diagram, after positioning from the positive side, backlash is
compensated for up to the amount of the output of pulses set for the backlash
compensation either when positioning in the negative direction or when the
positioning direction (pulse output direction) is reversed.
With this PCU, the backlash compensation and backlash compensation
speed can be designated by parameters.
The backlash compensation operation is used after the origin has been estab-
lished. If the backlash compensation speed is set to "0," compensatory output
is made at the initial speed. If the initial speed is below 250 pps, the compen-
satory speed is output at 250 pps.
Backlash
Positioning from positive side:
Position on drive side =
position on driven side
Positioning from negative side:
Position on drive side =
position on driven side −
amount of backlash
compensation
Positioning from negative side
Same position
Section 9-8
Time