Difference between revisions of "MC-Basic:axis.PositionBacklash"
m (Text replace - "Modal-Only" to "Modal only") |
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Task, Terminal | Task, Terminal | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Modal | + | Modal only |
|EXAMPLE= | |EXAMPLE= | ||
a1.PositionBacklash = 0.5 | a1.PositionBacklash = 0.5 | ||
Revision as of 06:49, 19 March 2014
Adds a position backlash value to the pcmd value. The value will be added in positive direction of the movement (<axis>.vcmd > 0) while in opposite direction the value multiplied by -1 will be used. In stand-still situation (vcmd = 0) the previous value of the backlash is used.
Changes between positive and negative applied backlash value will be smoothen by a simple alpha-filter : Axystems:MC-Basic:axis.PositionBacklashAlpha.
According to:
P = P*Alpha + sign*PositionBacklash*(1-Alpha)
where sign = -1 on vcmd <0 else equals 1.
 | IMPORTANT |
| The backlash position value is not compensated in the position feedback. Therefore applying position backlash to a certain non-zero value will result in having the same opposite value in PE (position error) it will look like PE is never closed. |
 | WARNING |
| Be cautious. The feature is not tested well enough. |
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