7 Applied Functions
7-14
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Precautions for Correct UsePrecautions for Correct Use
• To determine the actual position of the Servomotor, offset the Servomotor position data
acquired via EtherCAT communications by the backlash compensation amount.
• Backlash compensation is performed on the first position command in the set direction after
the servo is turned ON. Any prior operations in the opposite direction are not compensated.
But the first reverse operation after the initial backlash compensation is compensated.
Backlash compensation is not performed again as long as the operation continues in the same
direction.
• When the Servo OFF status occurs while backlash compensation is performed, the backlash
compensation amount is cleared. This is done by presetting the position command data of the
Servo Drive to the Servomotor position data that includes the backlash compensation amount.
When the servo is turned ON again, backlash compensation is performed as described above.
Additional Information
Conditions for Clearing Backlash Compensation
• When the position error is reset. This includes when the servo is turned OFF, and when the
error counter is reset for the drive prohibition input.
• When the position data is initialized, except for the homing operation in Homing mode (hm).
This includes Config (4100 hex) and Absolute Encoder Setup (4102 hex).
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