org.openpnp.machine.reference.axis

Enum ReferenceControllerAxis.BacklashCompensationMethod

java.lang.Object

java.lang.Enum<ReferenceControllerAxis.BacklashCompensationMethod>

org.openpnp.machine.reference.axis.ReferenceControllerAxis.BacklashCompensationMethod

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<ReferenceControllerAxis.BacklashCompensationMethod>

Enclosing class:

ReferenceControllerAxis

public static enum ReferenceControllerAxis.BacklashCompensationMethod
extends java.lang.Enum<ReferenceControllerAxis.BacklashCompensationMethod>

Backlash compensation is used to counter any looseness or play in the mechanical linkages of the given axis. When the actuator reverses the direction of travel, there is often a moment where nothing happens, because the slack from the belt or lash/play from the lead/ball screw needs to be taken up, before mechanical force can again be transmitted. Note that backlash is often unavoidable, otherwise friction will be too high or lubrication impossible.

Enum Constant Summary

Enum Constants

Enum Constant and Description
DirectionalCompensation Backlash compensation is applied in the direction of travel.
DirectionalSneakUp Same as DirectionalCompensation but this method sneaks up to the target at lower speed for the last part to prevent overshoot.
None No backlash compensation is performed.
OneSidedOptimizedPositioning Works like OneSidedPositioning except it will only perform an extra move when moving from the wrong side.
OneSidedPositioning Backlash compensation is applied by always moving to the end position from one side.

Method Summary

Modifier and Type	Method and Description
boolean	isDirectionalMethod()
boolean	isOneSidedPositioningMethod()
boolean	isSpeedControlledMethod()
static ReferenceControllerAxis.BacklashCompensationMethod	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static ReferenceControllerAxis.BacklashCompensationMethod[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

None

public static final ReferenceControllerAxis.BacklashCompensationMethod None

No backlash compensation is performed. The offset is ignored.

OneSidedPositioning

public static final ReferenceControllerAxis.BacklashCompensationMethod OneSidedPositioning

Backlash compensation is applied by always moving to the end position from one side. The backlash offset does not need to be very precise, i.e. it can be larger than the actual backlash and the machine will still end up in the correct precise position. The machine always needs to perform an extra move.

OneSidedOptimizedPositioning

public static final ReferenceControllerAxis.BacklashCompensationMethod OneSidedOptimizedPositioning

Works like OneSidedPositioning except it will only perform an extra move when moving from the wrong side.

DirectionalCompensation

public static final ReferenceControllerAxis.BacklashCompensationMethod DirectionalCompensation

Backlash compensation is applied in the direction of travel. The offset is added to the actual target location, if its signum point into the direction of travel.

DirectionalSneakUp

public static final ReferenceControllerAxis.BacklashCompensationMethod DirectionalSneakUp

Same as DirectionalCompensation but this method sneaks up to the target at lower speed for the last part to prevent overshoot. The sneaking up length is taken to be the same length as the backlash offset. The justification is that overshoot can never be more than the backlash, i.e. it will at most take up the slack.

Method Detail

values

public static ReferenceControllerAxis.BacklashCompensationMethod[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (ReferenceControllerAxis.BacklashCompensationMethod c : ReferenceControllerAxis.BacklashCompensationMethod.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static ReferenceControllerAxis.BacklashCompensationMethod valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null

isOneSidedPositioningMethod

public boolean isOneSidedPositioningMethod()

isDirectionalMethod

public boolean isDirectionalMethod()

isSpeedControlledMethod

public boolean isSpeedControlledMethod()