ADLINK PCI-8158 - Manual (Page 89)

Operation Theory 79
4.7.1 Backlash compensation and slip corrections
The motion controller has backlash and slip correction functions.
These functions output the number of command pulses in FA
speed. The backlash compensation is performed each time when
the direction changes on operation. The slip correction function is
performed before a motion command, regardless of the direction.
The correction amount of pulses can be set through the function
library.
4.7.2 Vibration restriction function
The method of vibration restriction of the motion controller is by
adding one pulse of reverse direction and then one pulse of for-
ward direction shortly after completing a motion command. The
timing of these two dummy pulses are shown below: (RT is
reverse time and FT is forward time)
4.7.3 Speed profile calculation function
Our motion function needs several speed parameters from users.
Some parameters are conflict in speed profile. For example, if you
input a very fast speed profile and a very short distance to motion
function, the speed profile is not exist for these parameters. At this
situation, motion library will keep the acceleration and deceleration
rate. It tries to lower the maximum speed from users automatically
to reform a speed profile feasible. The following diagram shows
this concept.