Backlash Compensation

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.

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Requirements:

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

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Configuration

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.

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Test

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.

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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.