Omron R88D-KN50H-ECT-R - 7-4 Backlash Compensation

7-11
7-4 Backlash Compensation
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7
Applied Functions
7-4 Backlash Compensation
The function compensates for backlash for position control and fully-closed control.
Objects Requiring Settings
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.
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.
Index Name Description Reference page
3704 hex
Backlash
Compensation
Selection
Select whether to enable or disable backlash
compensation during position control.
Set the compensation direction.
page 9-46
3705 hex
Backlash
Compensation Amount
Set the compensation amount during position control. page 9-46
3706 hex
Backlash
Compensation Time
Constant
Set the backlash compensation time constant during
position control.
page 9-46
Set value Description
0 Disable backlash compensation.
1 Compensate for backlash at the first forward operation after the servo is turned ON.
2 Compensate for backlash at the first reverse operation after the servo is turned ON.
3704 hex 3705 hex contains a positive value 3705 hex contains a negative value
1
Compensate in positive direction when
operation is in forward.
Compensate in negative direction when
operation is in forward.
2
Compensate positive direction when it is in
reverse operation.
Compensate in negative directions when
operation is in reverse.