Omron CS1W-213 - REV 02-2008 Operation Manual page 110

Axis Parameter Area
Bit Configuration
Settings
Explanation
Backlash Compensation
Word Address and Enable
Timing
Bit Configuration
Settings
Explanation
The bit configuration for the word addresses in the above table is shown
below.
15
Origin compensation value (leftmost word) (Hex) Origin compensation value (rightmost word) (Hex)
The origin compensation value can be set to any value in the following range:
C0000001 to 3FFFFFFF Hex ( ± 1,073,741,823 pulses)
The default setting is 00000000 (0).
This setting specifies the amount of compensation (in pulse units) after the
origin input signal is detected by an origin search operation. The origin com-
pensation value is set in the range –1,073,741,823 to 1,073,741,823 pulses
using two words (the leftmost word and the rightmost word) as 32-bit signed
data. If the compensation is set to anything other than 0, the axis will be
moved at the origin search proximity speed for the set amount of compensa-
tion after the origin input signal is detected. For details on origin compensa-
tion operation, refer to SECTION 6 Defining the Origin.
The word address and enable timing for the backlash compensation is shown
below.
Word
(PCU internal address)
NC1@3 NC2@3 NC4@3
X axis Y axis Z axis
m+16 m+44 m+72
(0010) (002C) (0048)
The bit configuration for the word addresses in the above table is shown
below.
15
The backlash compensation can be set to any value in the following range:
0000 to 270F Hex (0 to 9,999 pulses)
The default setting is 0000 (0).
This setting specifies the amount of backlash compensation (in pulse units).
The backlash compensation is set in the range 0 to 9,999 pulses as 16-bit
unsigned data. If the backlash compensation is set to anything other than 0,
backlash compensation will be performed by outputting the set number of
pulses at the backlash compensation speed. For details on backlash compen-
sation operation, refer to 9-8 Backlash Compensation.
00 15
Name
U axis
m+100 Backlash compensa-
(0064) tion
Backlash compensation (Hex)
Section 4-3
00
Enable timing
With operating com-
mand
00
85