Difference between revisions of "Backlash Compensation"

Revision as of 06:09, 17 May 2018

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

Roboter Ini file with GearPlay Compensation

The gearplay 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 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.
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 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.

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.

@@ Line 18: / Line 18: @@
 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:
+* 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 is too low
 ** If it moves too much then the "GearPlay" parameter is too high