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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Figure 35: Definition of different positions for one actuator.
10.1
Backlash Compensation
Backlash compensation is applicable on all positioners, but works only under certain
conditions:
• The "HomeSearchSequenceType" in the stages.ini must be different from
"CurrentPositionAsHome".
• Backlash compensation is not compatible with positioner mapping. So for
positioners with backlash compensation, it is not allowed to have an entry for
"PositionerMappingFileName" in the stages.ini.
• Backlash compensation is not compatible with trajectories (Line-Arc, Spline, PVT),
jog or analog tracking. So it is not possible to execute any trajectory, to use the jog
mode or to enable the analog tracking with any motion group that contains
positioners with backlash compensation enabled.
After the above has been taken into consideration, a number of steps need to be taken to
enable backlash compensation. First of all, there must be a value larger than 0 for
"backlash" in the stages.ini. But this setting does not automatically enable backlash
compensation. To do so, send the function PositionerBacklashEnable() while the
motion group, which includes the positioner is disabled. To disable backlash
compensation (for instance to execute a jog motion or to use analog tracking), use the
function PositionerBacklashDisable(). The value for backlash compensation can be
changed at any time with the function PositionerBacklashSet(). The new value for the
backlash will be taken into account with the next following move. Finally, the function
PositionerBacklashGet() returns the current value of the backlash and the backlash
status ("enabled" or "disabled").
For backlash setting to remain set after power down, the stages.ini file must be modified
with the value desired.
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Motion Tutorial
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