Backlash

hello,

i am wondering how the backlash compensation in linuxcnc works.

i know what backlash is, and thats better to get rid of it in hardware ...
i know how to configure it in the .ini file ...
i also know the requirement about the higher speed and accel entries for the setp generator ...

but how is it realized if for example the X-axis changes direction?

what speed and accel values are used for the compensation?

where to finde some documetation about the source code?

thanks for helping!

surfron

yeah, i also found the code and had a quick look through ...
it tries to use 150% of joint acceleration to compensate but have not found anything about speeds.
i have some strange behavior with very slow speeds ... it looks like compensation takes place after the move and not as soon as possible.

i will post a vid to that topic - but it will be in december - going today on vacation.

surfron