ADLINK HSL-4XMO - Manual (Page 96)

86 Operation Theory
HSL_M_set_trigger_type ()
4.13 Backlash Compensator and Vibration Suppres-
sion
Whenever direction change has occurred, the HSL-4XMO outputs
a backlash corrective pulse before sending the next command.
The function HSL_M_backlash_comp() is used to set the pulse
number.
In order to minimize vibration when a motor stops, the HSL-4XMO
can output a single pulse for a negative direction and then single
pulse for a positive direction right after completion of a command
movement. Refer to the timing chart below, the
HSL_M_suppress_vibration() function is used to set T1 & T2.
Figure 4-40: Vibration Suppression
X
Relative Functions:
HSL_M_backlash_comp()
HSL_M_suppress_vibration()