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For outputting an amount of backlash compensation according to the direction of reversal in the reversal motion of the moving axis, three output modes are prepared: (a) a mode in which a preset backlash compensation is outputted all at once, (b) a mode in which backlash compensation is outputted according to distance traveled, and (c) a mode in which backlash compensation is outputted according to time elapsed. It is determined whether the motion of the moving axis has been changed from positive to negative directions or from negative to positive directions, and with this determination result, any one of the above three output modes (a) to (c) is selected.

Deworming and Development: Asking the Right Questions, Asking the Questions Right