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Backlash compensation table for network drive


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We are using power clipper with Ethercat drives in cyclic synchronous position loop and want to use compensation table for bi-directional pitch error compensation. When motor is moving in the forward direction, compensation is working properly (position command from the PMAC to drive get updated as per the compensation table). However when we move the motor in negative direction, the actual position feedback received from the drive gets updated and not the commanded position. As the position loop is closed by drive, we are not able to use backlash compensation table.


Please help us how do we implement backlash compensation table in our case.

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