BacklashIirFilter Parameter

The BacklashIirFilter parameter smooths sudden changes in the position command that are caused by backlash compensation. This parameter specifies the time constant of a first-order, low-pass Infinite Impulse Response (IIR) filter that is applied to the backlash compensation component of motion. The value of this parameter corresponds approximately to the time interval over which an impulse, which is a sudden change, occurs in backlash compensation.

A value of zero for the BacklashIirFilter deactivates the filtering. A larger value causes more filtering and lower accelerations.

Figure: Calibration and Backlash Time Constant Effect of Velocity Change