MC-Basic:axis.PositionBacklash

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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: MC-Basic:axis.PositionBacklashAlpha.

According to:

P = P × Alpha + <sign> × PositionBacklash × (1-Alpha)

where <sign> = -1 on VCMD <0 else equals 1.


IMPORTANT.svgIMPORTANT
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>.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

See Also