Difference between revisions of "Backlash Compensation"
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* Make the changes in the ini file, save the file and start CPRog. Changes take effect only after a new start of CPRog. | * 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: | * 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 | + | ** If it does not move, the "GearPlay" Parameter should be increased. |
| − | ** If it moves too much then the "GearPlay" parameter is too high | + | ** 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. | ** It should move just a little, then it is ok. | ||
Revision as of 23:07, 5 June 2018
CPRog can help to compensate backlash(=gear-play) in software. This might increase precision in some applications, in others it might not.
Prerequisites
- CPRog Version V902-10-016 from March 2018 or later
Configuration
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.
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.
- 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.
Side Effects
- When moving the robot for 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 positions.
