https://wiki.cpr-robots.com/index.php?action=history&feed=atom&title=Backlash_CompensationBacklash Compensation - Revision history2026-05-11T23:06:28ZRevision history for this page on the wikiMediaWiki 1.44.0https://wiki.cpr-robots.com/index.php?title=Backlash_Compensation&diff=12&oldid=prevOLT: 1 revision imported2025-08-11T10:13:15Z<p>1 revision imported</p>
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</td></tr></table>OLThttps://wiki.cpr-robots.com/index.php?title=Backlash_Compensation&diff=11&oldid=prevcpr>Mab: Added configuration category2023-03-08T15:01:44Z<p>Added configuration category</p>
<p><b>New page</b></p><div>CPRog can help to compensate backlash(=[[Glossary|gear play]]) in software. This might increase precision in some applications, in others it might not.<br />
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==Prerequisites==<br />
* CPRog Version V902-10-016 from March 2018 or later<br />
<br />
==Configuration==<br />
[[File:180309 RobotIni CartComp.JPG|500px|thumb|left|Roboter Ini file with GearPlay Compensation ]]<br />
<br />
The backlash compensation can be configured in the robot ini file at c:\CPRog\Data\Robots\yourrobotinifile.xml<br />
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'''Please use "." as decimal separator!'''<br />
<br />
For each joint the tags "GearPlay" and "GearPlayInc" can be adapted:<br />
* 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.<br />
* GearPlayInc: Enter the velocity in degrees per cycle of backlash compensation. Values from 0.0 to 0.5. Should be around 0.05.<br />
<br clear=all/><br />
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==Test==<br />
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To test the compensation:<br />
* Make the changes in the ini file, save the file and start CPRog. Changes take effect only after a new start of CPRog.<br />
* Set the [[override]] to e.g. 3%. Now move joint 1 a little to the left and to the right. Results:<br />
** If it does not move, the "GearPlay" Parameter should be increased.<br />
** If it moves too much, then the "GearPlay" parameter is too high. The backlash is overcompensated.<br />
** It should move just a little, then it is ok.<br />
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==Side Effects==<br />
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* When moving the robot for the first time, there might be a small motion when the backlash compensation is initially applied. <br />
* Please test the compensation in combination with your referencing procedure. Verify the referencing precision from different starting positions.<br />
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[[Category:Configuration]][[Category:CPRog]]</div>cpr>Mab