Distribution of the backlash on multiple cycles (P-AXIS-00243)

The parameter "lr_param.n_backlash_cyc" defines a number of positions control cycles, on which the backlash is distributed. The distribution is done according to a sin² – function.

The parameter is also used for a bidirectional leadscrew error compensation, if a change of direction is executed.

For the values 0 or 1 the output of the backlash to the drive is done abruptly within one cycle. A value larger than 1 creates a distribution according to the sin² – function.

The use of this feature avoids increasing errors at the workpiece, because for large backlash the machine exitation is reduced.