Omron CS1W-213 - REV 02-2008, Operation Manual

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Software Limit Section 9-9
9-8-5 Backlash Compensation With Linear Interpolation
Backlash compensation can be set separately for each axis when two or more
axes are used for interpolation operations. While backlash compensation
pulses are being output, pulse outputs for all other interpolation operations
are stopped.
Example: Linear interpolation using the X and Y axes
If the backlash compensation setting is different for each axis in an interpola-
tion operation, during the period that interpolation is being executed for both
axes simultaneously, the axes will wait for the compensation to be completed
and then accelerate.
Example: Linear interpolation using the X and Y axes
9-9 Software Limit
9-9-1 Outline
In order to prevent damage to external devices due to unexpected positioning
operation when there is a malfunction, in addition to the CW and CCW limit
input signals, the PCU also has a function that monitors the position at a soft-
ware level. This function is called the “software limit” function. The range in
which the software limit function monitors the position is determined by the
values of two settings: the CW software limit and the CCW software limit. Nor-
mally, positioning is only possible within the range determined by these set-
tings.
Speed
Time
Y axis
X axis
Duration of stoppage (Y axis)
Period of movement by backlash
compensation (X axis)
Time
Speed
Time
Y axis
X axis
Time