Difference between revisions of "MC-Basic:axis.PositionBacklash"
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| + | {{Languages|MC-Basic:axis.PositionBacklash}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
None | None | ||
|SYNTAX= | |SYNTAX= | ||
| − | <axis>.PositionBacklash = <double> | + | <''axis''>.PositionBacklash = <double> |
|AVAILABILITY= | |AVAILABILITY= | ||
4.5.33 and later | 4.5.33 and later | ||
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Adds a position backlash value to the PCMD value. The value will be added to the positive direction of the movement (<''axis''>.VCMD > 0), while in opposite direction the value multiplied by -1 is used. At a standstill (VCMD = 0), the previous value of the backlash is used. | Adds a position backlash value to the PCMD value. The value will be added to the positive direction of the movement (<''axis''>.VCMD > 0), while in opposite direction the value multiplied by -1 is used. At a standstill (VCMD = 0), the previous value of the backlash is used. | ||
| − | Differences between positive and negative applied backlash values will be | + | Differences between positive and negative applied backlash values will be smoothed by a simple alpha-filter: [[MC-Basic:axis.PositionBacklashAlpha|'''PositionBacklashAlpha''']]. |
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| + | [[File:Backlash.jpg|frame|Picture showing different values of backlash compensation in different movement directions. Note the influence of PositionBacklashAlpha factor (0.9, 0.95, 0.99)|700px]] | ||
{{Note/Important| The backlash position value is not compensated in the position feedback. Therefore, applying position backlash to a non-zero value will result the same opposite value in the position error (PE). It will look like PE is never closed.}} | {{Note/Important| The backlash position value is not compensated in the position feedback. Therefore, applying position backlash to a non-zero value will result the same opposite value in the position error (PE). It will look like PE is never closed.}} | ||
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|TYPE= | |TYPE= | ||
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a1.PositionBacklash = 0.5 | a1.PositionBacklash = 0.5 | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:axis.PositionBacklashAlpha|PositionBacklashAlpha]] |
}} | }} | ||
Latest revision as of 03:37, 20 April 2017
| Language: | English • 中文（简体） |
|---|
Adds a position backlash value to the PCMD value. The value will be added to the positive direction of the movement (<axis>.VCMD > 0), while in opposite direction the value multiplied by -1 is used. At a standstill (VCMD = 0), the previous value of the backlash is used.
Differences between positive and negative applied backlash values will be smoothed by a simple alpha-filter: PositionBacklashAlpha.
Picture showing different values of backlash compensation in different movement directions. Note the influence of PositionBacklashAlpha factor (0.9, 0.95, 0.99)
 | IMPORTANT |
| The backlash position value is not compensated in the position feedback. Therefore, applying position backlash to a non-zero value will result the same opposite value in the position error (PE). It will look like PE is never closed. |
Short form
None
Syntax
<axis>.PositionBacklash = <double>
Availability
4.5.33 and later
Type
Double
Range
MIND ... MAXD
Units
Position user units
Default
0
Scope
Task, Terminal
Limitations
Modal only
Examples
a1.PositionBacklash = 0.5