CJ1W-NC414 Omron, CJ1W-NC414 Datasheet - Page 453

• Manufacturer Part Number: CJ1W-NC414
• Description: High Speed Pulse Train 4 Axes
• Manufacturer: Omron

Specifications of CJ1W-NC414

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

9-8 Backlash Compensation
CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434)
Outline of Operation
Positioning in forward direction
Driven side
Backlash refers to the meshing error between the driving side and driven side.
If there is a backlash, a positioning deviation occurs by the amount of backlash in both forward
and reverse directions. Perform backlash compensation to reduce this deviation.
A backlash occurs when the axis performs positioning in the reverse direction after positioning
in the forward direction, or when the positioning direction reverses. Output additional pulses by
the number of pulses which you set by the backlash compensation amount, to compensate for
the backlash.
Backlash compensation is not performed during the initial operation after you turn ON the PCU
power supply or restart the PCU. The compensation function becomes effective when the axis
moves in the opposite direction next.
With the PCU, you can specify the backlash compensation amount and compensation speed
by axis parameters.
If you set the backlash compensation speed to 0, the compensation is output at the initial
speed for starting the axis.
With a rotation axis, you cannot set a backlash compensation amount that exceeds the rotational
axis upper limit. Doing so generates a parameter error.
command positions are reduced by the backlash compensation amount.
Backlash compensation is not performed during Origin Search, MPG operation and synchronous
feeding. In the case of a Virtual Axis, backlash compensation is disabled.
If the AXIS FEEDING mode is set to Linear axis, the upper/lower limits of the effective range of
Precautions for Correct Use
Reference
Driving side
Same position
Backlash
Positioning in reverse direction
Positioning in forward direction
Driving side position = Driven side position
Positioning in reverse direction
Driving side position = Driven side position − backlash compensation amount
9-8 Backlash Compensation
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