Package org.openpnp.machine.reference.axis

Enum 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 Detail

      • 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.

      • 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()