Gearplay Compensation

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Roboter Ini file with GearPlay Compensation

CPRog can help to compensate gear play with software adaptions. This might increase precision in some applications, in others it might not improve behavior.


  • CPRog Version V902-10-016 from March 2018 or later


The gearplay compensation can be configured in the robot ini file at c:\CPRog\Data\Robots\yourrobotinifile.xml Please use "." dots as floating point seperator!

For each joint the tags "GearPlay" and "GearPlayInc" can be adapted:

  • GearPlay: Enter the mechanical gear play in degree in this joint. Values from 0.0 to 3.0. Needs to be higher than 0.1 to activate the compensation.
  • GearPlayInc: Enter the velocity in degrees per cycle the gear play value is compensated. Values from 0.0 to 0.5. Should be around 0.05.


To test the compensation:

  • Make the changes in the ini file, save the file and start CPRog. Changes take effect only after a new start of CPRog.
  • Put the override to e.g. 3%. Now move joint 1 a little to the left and to the right. Results:
    • If it does not move the "GearPlay" Parameter is too low
    • If it moves too much then the "GearPlay" parameter is too high
    • It should move just a little, then it is ok.

Side Effects

  • When moving the robot the first time there might be a small motion to align the software and hardware gear play side.
  • Please test the compensation in combination with your referencing procedure. Verify the referencing precision from different starting position.