Backlash Compensation

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

Prerequisites

Roboter Ini file with GearPlay Compensation

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.