BacklashIirFilter Parameter

The BacklashIirFilter parameter smooths sudden changes in the position command that are caused by backlash A component of bidirectional repeatability, it is the non-responsiveness of the system load to reversal of input command. compensation. This parameter specifies the time constant of a first-order, low-pass Infinite Impulse Response (IIR) filter that is applied to the backlash A component of bidirectional repeatability, it is the non-responsiveness of the system load to reversal of input command. 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 A component of bidirectional repeatability, it is the non-responsiveness of the system load to reversal of input command. compensation.

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

Figure: Calibration and Backlash A component of bidirectional repeatability, it is the non-responsiveness of the system load to reversal of input command. Time Constant Effect of Velocity Change