Omron CJ1W-MA - REV 10-2008, Operation Manual

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Backlash Compensation Section 10-7
10-7 Backlash Compensation
10-7-1 Overview
"Backlash" is the play between the driving axis and the mechanical system
being driven. If there is backlash in positioning from the positive or negative
direction, it will cause a discrepancy of the same extent in the positioning.
When using a G-series Servo Drive or a W-series Servo Drive, backlash com-
pensation can be used to make this discrepancy as small as possible.
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 is reversed.
The SMARTSTEP Junior Servo Drives do not support backlash compensa-
tion.
10-7-2 Backlash Compensation Procedure
The PCU uses the Servo Drive's backlash compensation function. The Servo
Parameters for backlash compensation must be set to enable the backlash
compensation function. After setting the Servo Parameters, execute SERVO
LOCK, and then perform backlash compensation with the following position
control operations.
ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, ORIGIN SEARCH,
ORIGIN RETURN, and JOG
Backlash compensation is disabled when executing SPEED CONTROL or
TORQUE CONTROL. Backlash compensation operation functions as follows:
• After SERVO LOCK (First Position Control Operating Command)
Compensation is applied to the first operating command that operates in
the specified backlash compensation direction. Compensation is not
applied to operations prior to this that moved axes in the opposite direc-
tion to backlash.
Positioning from negative side
Same position
Backlash
Positioning from positive side
Driven side
Driving side
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