Omron R88D-KN01H-ECT-L, User Manual

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7 - 13
7 Applied Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
7-
4 Backla
s
h Co
mp
ensat
ion
7
7-4 Backlash Compensation
The function compensates for backlash for position control.
Additional Information
The Servo Drive supports this function although backlash never occurs in a Linear Motor.
z
Backlash Compensation Selection (3704 hex)
This object is used to select whether to enable or disable backlash compensation during position
control, and to set the compensation direction.
z
Setting Method
The backlash compensation works in different directions depending on the setting in the Backlash
Compensation Selection (3704 hex) and on whether the set value for the Backlash Compensation
Amount (3705 hex) is positive or negative.
Objects Requiring Settings
Index Name Description Reference
3704 hex Backlash Compensation
Selection Select whether to enable or disable backlash
compensation during position control. Set the
compensation direction. P. 9-55
3705 hex Backlash Compensation
Amount Set the backlash compensation amount during
position control. P. 9-55
3706 hex Backlash Compensation
Time Constant Set the backlash compensation time constant during
position control. P. 9-56
Set value Description
0 Disable backlash compensation.
1 Compensate for backlash at the first positive movement
after the servo is turned ON.
2 Compensate for backlash at the first negative movement
after the servo turns ON.
3704 hex 3705 hex contains a positive value 3705 hex contains a negative value
1 Compensate in a positive direction during
positive movement. Compensate in a negative direction during
positive movement.
2 Compensate in positive direction when it is
in negative movement. Compensate in negative direction when it is
in negative movement.