ADLINK PCI-8154 - Manual (Page 91)

Operation Theory 81
4.7 Other Motion Functions
We provide many other functions on the motion controller. Such as
backlash compensation, slip correction, vibration restriction,
speed profile calculation and so on. The following sections will
describe these functions.
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 by 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).