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Measure the backlash using the primary units (usually mm or in) of the axis to be compensated. The distance measured should be relatively small You can also measure in the reverse direction, jogging positive in step 2, placing the dial gauge on the negative-facing plane of the carriage in step 3, then jogging negative in step 4. If you do, calculate the backlash as follows:

BacklashNegative = (P₁ - P₂) - D

BacklashPositive and BacklashNegative should be approximately equal.

Automation1

To add the backlash distance to your .MCD, take the following steps:

1. Connect to the controller in Automation1 Studio.
2. Navigate to the Configure tab.
3. Navigate to Axes > Motion.
4. Under the Calibration category, enter the value you calculated.
   
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5. It may be necessary to set the BacklashIirFilter parameter if the backlash compensation accelerations are too great on this axis. This is left to the discretion of the user. See the documentation below. 
   
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6. Save the parameter changes and Reset the controller as normal.
7. Repeat the backlash measurement process and confirm that the correction is appropriate.

Backlash compensation is only active after the axis has been Homed, and is zero at the end of the Home cycle. Backlash direction is dependent on the direction of the final move of the Home cycle; for example, if the final Home move is in the negative direction, only positive moves will use the BacklashDistance parameter.

A3200

To add the backlash distance to the parameter file, take the following steps:

1. Connect to the controller in Configuration Manager.
2. Open the Active parameter file.
3. Expand the Parameters node and click on Axis.
   
   
   
   
4. The BacklashDistance parameter will be available in the main pane. Enter the value you calculated here.
5. In the Parameters node, navigate to Task > Motion.
   
   
   
   
6. Verify that the parameter MotionUpdateRate is 1KHz at minimum. This is the default MotionUpdateRate value for most systems.
7. In the Parameters node, navigate to Axis > Motion > Filters.
   
   
   
   
8. It may be necessary to set the BacklashIIRFilter if the backlash compensation accelerations are too great on this axis. This is left to the discretion of the user. See the documentation below.
   
   
9. Save the parameter file and Reset the controller as normal.
10. Repeat the backlash measurement process and confirm that the correction is appropriate.

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