Difference between revisions of "Program Examples:Backlash Compensation Table"

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(Created page with "==Introduction== This article demonstrates the use of compensation tables for eliminating position backlash . [[File:BACKLASHCOMPENSATION.PNG|Backlash compensation value in ...")
 
 
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{{Languages|Program_Examples:Backlash_Compensation_Table}}
 
==Introduction==
 
==Introduction==
  
Line 7: Line 8:
 
== Program ==
 
== Program ==
  
−
First, attach the axis, go to an initial position (zero):
+
First, define two compensation tables each one for opposite directions:
  
 
<pre>
 
<pre>
−
  Attach A1   
+
common shared compAxAPlus  as comp
−
  Move A1 0
+
common shared compAxAMinus as comp
 
</pre>
 
</pre>
  
−
Set the backlash value and the alpha smoothing factor:
+
attach the axis, go to an initial position (-100):
  
 
<pre>
 
<pre>
−
   A1.PositionBacklash = 0.5
+
  Attach AxA    
−
  A1.PositionBacklashAlpha = 0.9
+
  Move A1 -100
 
</pre>
 
</pre>
 +
 +
Define the number of points in each table (10):
 +
 +
<pre>
 +
  CreateComp compAxAPlus  10
 +
  CreateComp compAxAMinus 10
 +
</pre>
 +
 +
Both are active between -100 and +100:
 +
 +
<pre>
 +
  CreateComp compAxAPlus  10
 +
  CreateComp compAxAMinus 10
 +
</pre>
 +
 +
 +
Set the both tables acting on same axis(AxA):
 +
 +
<pre>
 +
  CompSet compAxAPlus  AxA On AxA
 +
  CompSet compAxAMinus AxA On AxA
 +
</pre>
 +
  
 
Checking the actual compensation value from terminal should return 0 as no motion has been done:
 
Checking the actual compensation value from terminal should return 0 as no motion has been done:
  
 
<pre>
 
<pre>
−
-->?a1.CompPCmd - a1.PCmd
+
  compAxAPlus.MinPosition[1] = -100
−
0
+
  compAxAPlus.MaxPosition[1] = +100
 +
 
 +
  compAxAMinus.MinPosition[1] = -100
 +
  compAxAMinus.MaxPosition[1] = +100
 +
</pre>
 +
 
 +
Set the compensation values linearly between 0.1 for -100 and 1.0 for +100 for '''positive''' direction and -0.1 to -1.0 for '''negative''' direction:
 +
<pre>
 +
  for i = 1 to 10
 +
      compAxAPlus.TargetData[1][i] = 0.1*i
 +
      compAxAMinus.TargetData[1][i] = -0.1*i
 +
    next
 
</pre>
 
</pre>
  
 +
Set direction of compensation activity, one table is only active in positive movement (vcmd > 0) direction the other is negative (vcmd <0):
  
−
Move back (negative direction):
 
 
<pre>
 
<pre>
−
  MOVE A1 -100
+
    compAxAPlus.direction = 1
 +
    compAxAMinus.direction = -1 
 
</pre>
 
</pre>
  
−
Checking the actual compensation value from terminal should return -0.5 as motion was in negative direction:
+
 
 +
Set both tables active, it means both will be active  each one in different direction:
  
 
<pre>
 
<pre>
−
-->?a1.CompPCmd - a1.PCmd
+
    compAxAPlus.CompActive = 1
−
-0.5
+
    compAxAMinus.CompActive = 1
 
</pre>
 
</pre>
  
−
Move forward (positive direction):
+
 
 +
Start Motion:
 +
 
 
<pre>
 
<pre>
−
  MOVE A1 +100
+
    AxA.PositionBacklashAlpha = 0.9
 +
 
 +
    Sleep 100
 +
    Move AxA 99.9 Abs = 1  Vcruise = 10000
 +
    Delay AxA 100   
 +
    Move AxA -99.9  Abs = 1 Vcruise = 10000
 +
    Delay AxA 100   
 
</pre>
 
</pre>
  
−
Checking the actual compensation value from terminal should return +0.5 as motion was in positive direction:
 
  
 +
Detach the axis:
 
<pre>
 
<pre>
−
-->?a1.CompPCmd - a1.PCmd
+
  Detach AxA   
−
0.5
+
  End Program
 
</pre>
 
</pre>
 +
 +
 +
 +
'''SEE ALSO'''
 +
* [[MC-Basic:COMMON SHARED ... AS COMP|COMMON SHARED comp_name AS COMP]]
 +
* [[MC-Basic:axis.COMPPOSITIONCOMMAND|axis.COMPPOSITIONCOMMAND]]
 +
* [[MC-Basic:axis.COMPPOSITIONFEEDBACK|axis.COMPPOSITIONFEEDBACK]]
 +
* [[MC-Basic:compTable.MINPOSITION|compTable.MINPOSITION]]
 +
* [[MC-Basic:compTable.MAXPOSITION|compTable.MAXPOSITION]]
 +
* [[MC-Basic:compTable.TARGETDATA|compTable.TARGETDATA]]
 +
* [[MC-Basic:compTable.SOURCEDATA|compTable.SOURCEDATA]]
 +
* [[MC-Basic:compTable.DIRECTION|compTable.DIRECTION]]
 +
* [[MC-Basic:compTable.COMPACTIVE|compTable.CompActive]]
 +
* [[MC-Basic:CREATECOMP|CREATECOMP]]
 +
* [[MC-Basic:LOADCOMPDATA|LOADCOMPDATA]]
 +
* [[MC-Basic:COMPSET|COMPSET]]
 +
* [[MC-Basic:STORECOMPDATA|STORECOMPDATA]]

Latest revision as of 05:30, 17 July 2017

Language: English  • 中文（简体）‎

Introduction

This article demonstrates the use of compensation tables for eliminating position backlash .

Backlash compensation value in different movement directions

Program

First, define two compensation tables each one for opposite directions: 

common shared compAxAPlus  as comp
common shared compAxAMinus as comp

attach the axis, go to an initial position (-100): 

  Attach AxA    
  Move A1 -100

Define the number of points in each table (10): 

  CreateComp compAxAPlus  10
  CreateComp compAxAMinus 10

Both are active between -100 and +100: 

  CreateComp compAxAPlus  10
  CreateComp compAxAMinus 10


Set the both tables acting on same axis(AxA): 

   CompSet compAxAPlus  AxA On AxA
   CompSet compAxAMinus AxA On AxA


Checking the actual compensation value from terminal should return 0 as no motion has been done: 

   compAxAPlus.MinPosition[1] = -100
   compAxAPlus.MaxPosition[1] = +100

   compAxAMinus.MinPosition[1] = -100
   compAxAMinus.MaxPosition[1] = +100

Set the compensation values linearly between 0.1 for -100 and 1.0 for +100 for positive direction and -0.1 to -1.0 for negative direction: 

   for i = 1 to 10
      compAxAPlus.TargetData[1][i] = 0.1*i
      compAxAMinus.TargetData[1][i] = -0.1*i
    next

Set direction of compensation activity, one table is only active in positive movement (vcmd > 0) direction the other is negative (vcmd <0): 

    compAxAPlus.direction = 1
    compAxAMinus.direction = -1


Set both tables active, it means both will be active each one in different direction: 

    compAxAPlus.CompActive = 1
    compAxAMinus.CompActive = 1


Start Motion: 

    AxA.PositionBacklashAlpha = 0.9

    Sleep 100
    Move AxA 99.9 Abs = 1  Vcruise = 10000
    Delay AxA 100    
    Move AxA -99.9  Abs = 1 Vcruise = 10000
    Delay AxA 100


Detach the axis: 

  Detach AxA    
  End Program


SEE ALSO

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