MC-Basic:axis.PositionBacklash

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: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.

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