Omron CS1W-MC221 -, Operation Manual

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Backlash Correction Section 6-15
Backlash correction is executed either at powerup or when the axis is moved
in the opposite direction from the direction in which it first moves after a
restart.
6-15-1 Setting Backlash Correction
Either CX-Motion or the IOWR instruction can be used to set backlash correc-
tion.
Using CX-Motion
For details on using CX-Motion to make this setting, refer to the CX-Motion
Online Help .
Using IOWR
For details on using the IOWR instruction to transfer data to the MC Unit, refer
to
SECTION 4 Data Transfer and Storage .
To use IOWR to set the backlash correction, set the backlash correction
address in the IOWR control code (C) and then transfer the backlash correc-
tion value to the MC Unit.
X axis: Address 11FC hex (4604)
Y axis: Address 1215 hex (4629)
Z axis: Address 122E hex (4654)
U axis: Address 1247 hex (4679)
Specifications The following is a basic explanation of the IOWR instruction specifications for
setting the backlash correction. For a more detailed explanation, refer to
4-2
IOWR and IORD Specifications .
No difference in position between machines
Different positions
of the driving axes
Positioning in the
forward direction
Positioning in the reverse direction
(considering the backlash)
IOWR
C
S
D
@IOWR
C
S
D