3.25 EDH0162En1040 – 06/99
MM4005 BA — Set backlash compensation
Usage  IMM  PGM  MIP
Syntax xxBAnn
Parameters
Description xx
[int] — Axis number.
nn [float] — Backlash compensation value.
Range xx — 1 to 4.
nn
— 0 to distance equivalent to 10000 encoder counts.
Units xx — None.
nn — Defined motion units.
Defaults xx Missing: Error B.
Out of range: Error B.
Floating point: Error A.
nn Missing: 0.
Out of range: Error C.
Description This command initiates a backlash compensation algorithm when motion
direction is reversed. The controller keeps track of the motion sequence
and for each direction change it adds the specified nn correction. Setting
nn to zero disables the backlash compensation.
NOTE
The command is active only after a home search or home set (OR or DH)
is performed on the specified axis.
Returns
None.
Errors A — Unknown message code.
B — Incorrect axis number.
C — Parameter out of limits.
D — Unauthorized execution.
Rel. Commands XB — Read backlash compensation.
Example OR | Perform a home search on all installed axes.
1BA0.0012 | Set backlash compensation of axis #1 to 0.0012 units.
2BA0.0008 | Set backlash compensation of axis #2 to 0.0008 units.
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