CPRog can help to compensate backlash(=gear play) in software. This might increase precision in some applications, in others it might not.
- CPRog Version V902-10-016 from March 2018 or later
The backlash compensation can be configured in the robot ini file at c:\CPRog\Data\Robots\yourrobotinifile.xml
Please use "." as decimal separator!
For each joint the tags "GearPlay" and "GearPlayInc" can be adapted:
- GearPlay: Enter the mechanical backlash 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 of backlash compensation. 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.
- Set 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 should be increased.
- If it moves too much, then the "GearPlay" parameter is too high. The backlash is overcompensated.
- It should move just a little, then it is ok.
- When moving the robot for the first time, there might be a small motion when the backlash compensation is initially applied.
- Please test the compensation in combination with your referencing procedure. Verify the referencing precision from different starting positions.