Difference between revisions of "MC-Basic:axis.PositionBacklashAlpha"
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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4.5.33 and later | 4.5.33 and later | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Value of the alpha filter used in backlash compensation. See [[MC-Basic:axis.PositionBacklash]]. | + | Value of the alpha filter used in backlash compensation. It is used to eliminate strong jumping of backlash compensation value between positive and negative directions, typically occurring near target point or at the beginning of the movement. See [[MC-Basic:axis.PositionBacklash|'''<axis>.PositionBacklash''']] and [[MC-Basic:compTable.DIRECTION|'''<comp>.Direction''']].<br> |
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| + | * Bigger values (close to 1.0) are for sharper corners (faster response) | ||
| + | * Smaller values (close to 0.1) are for smoother behavior | ||
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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]] | ||
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| + | {{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= | ||
Double | Double | ||
Latest revision as of 05:23, 20 April 2017
| Language: | English • 中文（简体） |
|---|
Value of the alpha filter used in backlash compensation. It is used to eliminate strong jumping of backlash compensation value between positive and negative directions, typically occurring near target point or at the beginning of the movement. See <axis>.PositionBacklash and <comp>.Direction.
- Bigger values (close to 1.0) are for sharper corners (faster response)
- Smaller values (close to 0.1) are for smoother behavior
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>.PositionBacklashAlpha
Availability
4.5.33 and later
Type
Double
Range
0 ... 1.0
Units
None
Default
0.9
Scope
Task, Terminal
Limitations
Modal only