MPIAxisBacklashCompensation
Declaration
typedef struct MPIAxisBacklashCompensation {
double width; /* in counts */
double rate; /* in counts/second */
double hysteresisLimit; /* in counts (position mode), or samples (time mode) */
} MPIAxisBacklashCompensation;
Required Header: axis.h
Change History: Added in 04.00.
Description
MPIAxisBacklashCompensation structure contains the configurations for an axis to compensate for poor mechanical systems that have significant backlash between the end effector and the feedback device.
| width | Used to set the backlash width. This is the total number of counts (centered at 0) that is added/subtracted by the compensator. |
|---|---|
| rate | The rate in counts/second at which the backlash compensator adds/subtracts counts. |
| hysteresisLimit | The number of samples that must pass while the command velocity has a constant sign before backlash compensation is applied. A hysteresisLimit of 0 means that backlash compensation will be applied whenever there is a sign change. |