Backlash Compensation
From Wiki
CPRog can help to compensate gear play with software adaptions. This might increase precision in some applications, in others it might not improve behavior.
Requirements:
- CPRog Version V902-10-016 from March 2018 or later
Configuration
The gearplay compensation can be configured in the robot ini file at c:\CPRog\Data\Robots\yourrobotinifile.xml Please use "." dots as floating point seperator!
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.
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.
- Put 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.
Side Effects
- When moving the robot 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 position.
