Difference between revisions of "Program Examples:Backlash Compensation"
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==Introduction== | ==Introduction== | ||
Latest revision as of 03:31, 17 July 2017
| Language: | English • 中文（简体） |
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Introduction
This article demonstrates the use of position backlash compensation feature.
Program
First, attach the axis, go to an initial position (zero):
Attach A1 Move A1 0
Set the backlash value and the alpha smoothing factor:
A1.PositionBacklash = 0.5 A1.PositionBacklashAlpha = 0.9
Checking the actual compensation value from terminal should return 0 as no motion has been done:
-->?a1.CompPCmd - a1.PCmd 0
Move back (negative direction):
MOVE A1 -100
Checking the actual compensation value from terminal should return -0.5 as motion was in negative direction:
-->?a1.CompPCmd - a1.PCmd -0.5
Move forward (positive direction):
MOVE A1 +100
Checking the actual compensation value from terminal should return +0.5 as motion was in positive direction:
-->?a1.CompPCmd - a1.PCmd 0.5