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Delta AX Series

Delta AX Series
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AX-Series Motion Controller Instructions Manual Chapter 2
163
Function
SMC_BacklashCompensation can be used to compensate for the backlash of drive belt devices or the transmission
box.
SMC_BACKLASH_MODE
Compensation mode Description
SMC_BL_NEGATIVE
Backlash compensation is only performed when the
axis is running in the opposite direction.
SMC_BL_OFF No backlash compensation
SMC_BL_POSITIVE
Backlash compensation is only performed when the
axis is running in the positive direction.
SMC_BL_AUTO
Backlash is compensationd regardless of the direction
in which the axis is running.
SMC_BACKLASH_STARTSTATE
The Initial State of the Master and Slave
Axes
Description
SMC_BL_START_NEGATIVE
Reverse traction is initially applied to the slave axis by
the master slave.
SMC_BL_START_NONE
No traction is initially applied to the slave axis by the
master slave.
SMC_BL_START_POSITIVE
Positive traction is initially applied from the shaft to the
main shaft.
When SMC_BacklashCompensation is run, even if the master axis is stationary, the function block will first
perform compensation based on the MC_BL_START_NONE and SMC_BACKLASH_MODE, in which
bCompensating will not turn to True.
The Initial State of the Master
and Slave Axes
Compensation Mode
Behavior Pattern
SMC_BL_START_NONE
SMC_BL_POSITIVE
When the function block starts but the master
axis
is stationary, the slave axis is first
compensationd forward to the fBacklash value
set. Assuming fBacklash = 10, after the function
block starts, the master axis position = 0, and
the slave axis position = 5.
SMC_BL_NEGATIVE
When the function block starts but the master
axis
is stationary, the slave axis is first
compensation
d backwards to the fBacklash
value set. Assuming fBacklash = 10, after the
function block starts, the master axis position =
0, and the slave axis position = -5.
SMC_BL_START_POSITIVE SMC_BL_NEGATIVE
When the function block starts but the master
axis
is stationary, the slave axis is first
compensation
d backwards to the fBacklash
value set. Assuming fBacklash = 10, after the
function block starts, the master axis position =
0, and the slave axis position = -10.

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