Omron R88D-1SN ECT Series User Manual

7 Applied Functions
7 - 20
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-5 Backlash Compensation
This function compensates the specified backlash compensation amount, travel distance, and present
position.
Use this function when there is a meshing error in machine systems.
The Backlash Compensation function can be used when the communications period is 250 µs or more.
When the communications period is 125 µs, set Backlash Compensation Selection to 0 (disabled).
The backlash compensation function operates in the position control.
7-5-1 Operating Conditions
7-5-2 Objects Requiring Settings
Index
(hex)
Subindex
(hex)
Name Description
Refer-
ence
3001
---
Machine
---
P. 9 - 1 2
02 Backlash Compensation
Selection
Selects whether to enable or disable backlash
compensation in the position control, and the
operation direction for the compensation.
0: Disabled
1: Compensate at the first positive operation
after Servo ON
2: Compensate at the first negative operation
after Servo ON
P. 9 - 1 2
03 Backlash Compensation
Amount
Sets the backlash compensation amount in
the position control.
P. 9 - 1 2
04 Backlash Compensation
Time Constant
Sets the backlash compensation time con-
stant in the position control.
P. 9 - 1 3

Omron R88D-1SN ECT Series Specifications

General

Feedback	Incremental encoder, Absolute encoder
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Communication Interface	EtherCAT
Power Supply Voltage	200 to 240 VAC
Output Power	0.1 to 1.5 kW
Input Voltage Range	170 to 264 VAC
Control Method	Sine-wave PWM control
Main Circuit Power Supply	200-240 VAC
Applicable Motor Capacity	0.1 to 1.5 kW
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature	0 to 55°C
Vibration Resistance	4.9 m/s² (10 to 55 Hz)
Shock Resistance	98 m/s2
Weight	Varies by model