Difference between revisions of "MC-Basic:axis.PositionBacklash"
m (Text replace - "Modal-Only" to "Modal only") |
|||
| Line 6: | Line 6: | ||
|AVAILABILITY= | |AVAILABILITY= | ||
4.5.33 and later | 4.5.33 and later | ||
| + | |||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Adds a position backlash value to the | + | 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 smoothened by a simple alpha-filter: [[Axystems:MC-Basic:axis.PositionBacklashAlpha]]. | |
According to: | According to: | ||
| − | P = P*Alpha + sign | + | P = P*Alpha + sign × PositionBacklash × (1-Alpha) |
| − | where sign = -1 on | + | where sign = -1 on VCMD <0 else equals 1. |
| − | |||
| + | {{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/Warning| | + | {{Note/Warning| Use caution with this feature. It has not been fully tested.}} |
|TYPE= | |TYPE= | ||
| − | + | Double | |
|RANGE= | |RANGE= | ||
MIND ... MAXD | MIND ... MAXD | ||
|UNITS= | |UNITS= | ||
| − | + | Position user units | |
|DEFAULT= | |DEFAULT= | ||
0 | 0 | ||
Revision as of 07:07, 19 March 2014
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 smoothened 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 non-zero value will result the same opposite value in the position error (PE). It will look like PE is never closed. |
 | WARNING |
| Use caution with this feature. It has not been fully tested. |
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