Omron R88M-K - Backlash Compensation; Objects Requiring Settings

7-13
7 Applied Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-4 Backlash Compensation
7
7-4-1 Objects Requiring Settings
7-4 Backlash Compensation
The function compensates for backlash for position control and fully-closed control.
This object is used to select whether to enable or disable backlash compensation during position
control, and to set the compensation direction.
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.
7-4-1 Objects Requiring Settings
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 9-55
3705 hex Backlash Compensation
Amount
Set the compensation amount during position control. page 9-55
3706 hex Backlash Compensation
Time Constant
Set the backlash compensation time constant during
position control.
page 9-55
Backlash Compensation Selection (3704 Hex)
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.
Setting Method
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.