BASIC commands
PROGRAMMING MANUAL 42
Revision 1.0
3.2.40 BACKLASH
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3.2.41 BACKLASH_DIST
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3.2.42 BASE
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Type Axis command
Syntax BACKLASH(ON/OFF, distance, speed, accel)
Description The BACKLASH command allows the parameters for the backlash compen-
sation to be loaded. The backlash compensation is achieved as follows:
• An offset move is applied when the motor demand is in one direction.
• The offset move is reversed when the motor demand is in the opposite
direction.
These moves are superimposed on the command axis movements.
The backlash compensation is applied after a change in the direction of the
DPOS parameter. The backlash compensation can be seen in the
TRANS_DPOS parameter, which is equal to DPOS + backlash compensa-
tion.
Arguments • ON/OFF
Either ON or OFF.
• distance
The offset distance, expressed in user units.
• speed
The speed of the compensation move, expressed in user units.
• accel
The acceleration or deceleration rate of the compensation move,
expressed in user units.
Example BACKLASH(ON,0.5,10,50) AXIS(0)
BACKLASH(ON,0.4,8,50) AXIS(1)
This applies backlash compensation on axes 0 and 1.
See also DPOS, TRANS_DPOS.
Type Axis parameter
Syntax BACKLASH_DIST
Description BACKLASH_DIST is the amount of backlash compensation that is applied to
the axis when BACKLASH = ON.
Arguments N/A
Example IF BACKLASH_DIST>100 THEN
OP (10, ON) ' show that backlash compensation reached this value
ELSE
OP (10, OFF)
END IF
See also BACKLASH
Type Axis command
Syntax BASE
BASE(axis_1 [ ,axis_2 [ , axis_3 [ , axis_4 [ , axis_...]]]])
BA
BA(axis_1 [ ,axis_2 [ , axis_3 [ , axis_4 [ , axis_...]]]])
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