Specifications

BASIC commands
PROGRAMMING MANUAL 38
Revision 5.0
3.2.38 BACKLASH
/i
3.2.39 BACKLASH_DIST
/i
Arguments • type
Reserved for future expansion. Always set this to 1.
• data_in
Location in the TABLE where the source profile is stored.
• number_in
Number of points in the source profile.
• data_out
Location in the TABLE where the expanded profile will be stored.
• expansion_ratio
The expansion ratio, i.e., if the source profile is 100 points and
expansion_ratio is set to 10 the resulting profile will be 1000 point (100 *
10).
Example BASE(1)
B_SPLINE(1, 0, 10, 200, 10)
This command expands a 10 point profile in TABLE locations 0 to 9 to a larger
100 points profile starting at TABLE location 200.
See also N/A
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