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

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Backlash Compensation Section 10-7
• After Backlash Compensation
Backlash compensation is applied for the first operating command that
operates in the opposite direction from which backlash compensation was
previously applied. Once backlash compensation has been applied, it will
not be applied again as long as operation is continued in the same direc-
tion.
Note The PCU's present position compensation according to the backlash compen-
sation function is applied to both the feedback present position and command
present position.
10-7-3 Backlash Compensation Data Settings
When a G-series Servo Drive or a W-series Servo Drive is connected, the
data settings for backlash compensation are as follows:
Servo Parameter Area Backlash Compensation Parameters (R88D-GN @ -ML2)
The backlash compensation amount is set in Pn101 in command units. The
minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
Backlash Compensation Parameters (R88D-WT @ + JUSP-NS115)
Present position managed by PCU
Compensation amount
(4)
(3)
(1)
(2)
Compen-
sation
amount
Start (1)
(First time after
SERVO LOCK) Start (2) Start (4) Start (3)
Specified backlash compensation direction
Number of Servomotor rotations
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn100 Backlash compensation selec-
tion
--- 0 to 2 2 0
--- Pn101 Backlash compensation Command unit
−
32,768 to
32,767
2 0
--- Pn102 Backlash compensation time
constant 0.01ms 0 to 6400 2 0
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn81B Backlash compensation amount 0.1 command unit
−
32,768 to
32,767
2 0
--- Pn81D.0 Compensation function selection --- 0, 1 2 0