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All BASIC commands
Section 4-2
102
4-2-37 BACKLASH
/i
4-2-38 BACKLASH_DIST
/i
Type
Axis command
Syntax
BACKLASH(on/off, distance, speed, accel)
Description
The
BACKLASH
command allows the parameters for the backlash
compensation to be loaded. The backlash compensation is achieved as
follows:
•
An offset move is applied when the motor demand is in one direc-
tion.
•
The offset move is reversed when the motor demand is in the oppo-
site direction.
These moves are superimposed on the command axis movements.
The backlash compensation is applied after a change in the direction of
the
DPOS
parameter. The backlash compensation can be seen in the
TRANS_DPOS
parameter, which is equal to
DPOS
+ backlash com-
pensation.
Arguments
•
on/off
Either ON or OFF.
•
distance
The offset distance, expressed in user units.
•
speed
The speed of the compensation move, expressed in user units.
•
accel
The acceleration or deceleration rate of the compensation move,
expressed in user units.
Example
BACKLASH(ON,0.5,10,50) AXIS(0)
BACKLASH(ON,0.4,8,50) AXIS(1)
This applies backlash compensation on axes 0 and 1.
See also
DPOS
,
TRANS_DPOS
.
Type
Axis parameter
Syntax
BACKLASH_DIST
Description
BACKLASH_DIST
is the amount of backlash compensation that is
applied to the axis when
BACKLASH = ON
.
Arguments
N/A
Example
IF BACKLASH_DIST>100 THEN
OP (10, ON) ' show that backlash compensation reached this
value
ELSE
OP (10, OFF)
END IF
See also
BACKLASH
Содержание trajexia CJ1W-MCH72
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Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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