From 8babe4b7dc5d3512ee6f1db9bcc48be02a14ff6a Mon Sep 17 00:00:00 2001 From: "W. Trevor King" Date: Fri, 19 Nov 2010 08:33:06 -0500 Subject: [PATCH] Add stepper backlash post. --- posts/MultiMode/stepper/backlash.mdwn | 37 ++++++++++++++++++ .../stepper/backlash/step_backlash.png | Bin 0 -> 19678 bytes 2 files changed, 37 insertions(+) create mode 100644 posts/MultiMode/stepper/backlash.mdwn create mode 100644 posts/MultiMode/stepper/backlash/step_backlash.png diff --git a/posts/MultiMode/stepper/backlash.mdwn b/posts/MultiMode/stepper/backlash.mdwn new file mode 100644 index 0000000..69dbc77 --- /dev/null +++ b/posts/MultiMode/stepper/backlash.mdwn @@ -0,0 +1,37 @@ +There is a good deal of drive-train [backlash][] in the stepper +mechanism. + +Detection procedure +=================== + +1. Step towards surface until there is plenty of surface contact. +2. Step away until you leave the surface. +3. Repeat until you have too much data :p. + +[[!img step_backlash.png + alt="Data from 17 counterclockwise approach-retreat cycles" + title="Data from 17 counterclockwise approach-retreat cycles"]] + +Conclusions +=========== + +About 47 steps of backlash. Since we never touch the stepper while any +critcal surface interactions are going on, simply replace *step back 1 +step* with *step back 60 steps, then forward 59*. + +Supporting evidence +=================== + +Noise on reversal +----------------- + +When we reversing the stepper (by any means), the movement is “clearly +audible” for “a bit” and then becomes “almost silent”. + +To give a rough idea, I usually have keep my finger on the drive-shaft +to tell if the motor is moving in “almost silent” mode, but can hear +the motor from around 5 ft away in “clearly audible” mode. “A bit” is +about 0.5 s when controlling the motor using the manual Up/Down +switch. + +[backlash]: http://en.wikipedia.org/wiki/Backlash_%28engineering%29 diff --git a/posts/MultiMode/stepper/backlash/step_backlash.png b/posts/MultiMode/stepper/backlash/step_backlash.png new file mode 100644 index 0000000000000000000000000000000000000000..28dd30ffe7c1b121d57cb767b4219aa75863c386 GIT binary patch literal 19678 zcmbun2RxPk|2KY7W{HYK8J~B_pLJ1pt6d?%C6q0DzwW z0C@5g_~1L9lxmaU3yI@1Z5Qyh7yf5*vQ`GY>Fy|L@t>oCC#)a30pR&vxu=q9o-5gXMg>>B{J<&Lmw*=bYAPUuUUVr7cH@{_-X2`ik5VB3c>s8BF-%K;xRuSeHnCT zcTwROd#rvgmjpYF!u^>TX}i(R?1VU{=Q`@@B@tAlflrK{J9YZ+I{ZF)*8Z?{E``r! zZNbH2^?2&R_tZxJsI|d4%%dF_C3`Oz1YjEh;F(tV&IS0dOl^u__^+62fsXJyFP~6c zf&P$?*Ekjj_!9}bFjesXIS&pY_$g(XF;eBdEK*}H)2+9kZ*ptnCW8(rY+Zt}-uouq zG52XJG8~3A0~*F3gdTJh#pF7SIS6{La)FMXnY%uw5Wf6-BR$eieR*DLtxDyXLvg0 zKLTx9^;zixiV@0Y3dh%`9?dF{}YbSGe>Vw&C{NU;k;5c;OvEF{(Z?$)JP%K%66$@!sPF`+WNfK{_#(L$h43(K%1yTLOq11y~mhD}c!-#l#+r z0(hoB*pWm5e+778Jc3}AF-eVZfUvU*qseV!qD*%U>xlMj@5!sp zoL)WUdZ+qQ>`)cPZ<}k+7$iMI*Dp!e6L(Zl5iB*eRvL;0{{&(bN!y1q9{Zo49#`^u zAGH5H+wuR4MTU_xi2EK5w|O6+$4fLTG&KJ_{(C&+f4-MtBqvtU(|)?b?SI^F$o`9% zkc7c^w}XhmH?yZFicZ9R^W)(kT*Ieg{jsyi^TYafb%FU1%%gsCvfW4 z*-mE@hAeuCo$dcneth<69*g{Yj)4Zo170HKoQ>{VGqpC8Gj^eLYvJ5&M?b^4XDsGY zsODTKl+s1L{`~r8B=z=uJAT386dc2zA&~}`!kYrTJp7PKE>Wm%+|I^<+3?A+f(#3oZH>Ybzo$TbA2@Wu! z2RcMuic}G20T{JN6aNh`#bv{c(z* z-OMMeA9)IiT>4Fvh!px8qeM1xk!&4j@3!8^yDW30qF+xZ8(CHOJKM{qVRci(6%AHk?QM zpDr`}J(5+1p=IQ-$32$<#4d{$GH;F>)jYWtYx$C7_DUpe{FOvU@*M#ti7AJ$Jl3&A zfj8cg6zL=fnQZ}Gid2ZnD_wh#o}4$&elO!r0?6{LI1D~~B>!i;(1O5GqR*vtgL(02C@yr!Hq_pFcbS?3pWXorJDuJQH zeCrg_#UPd~vfnHHiQI;5w{Q5(&Zw%s*}6r3{f1xoyr!!WLxCJi=`V2D%k`V{dq~^6 ztl6~oglCN8QpB>9^|f+B$&RyYs22SHo?(#whS5}08@GdIPuFnERyA6nfw5Fu@}E|E zS@OW61DuV~i5`DWk#J^QVCpiY5mTAZFEXBl=G$~IEinC2%P=8vn8%GkDHxu_(l-y` zy(p?|34MIJMDBmo#jv^1RTral;i-#r24#%jk?kGgp^Gfp(NPf4N$W+EV=m?Aj>w)X zfT!reZ$gJm5n%{p*B4AK)*D?gk9-rgz4Ma7o`DG43|YPHxkq9e{)zTKGQ3ukEYiKY z6V!%2daGb|knP}VT^Hw%SBv#>)v4~hdypinEP#P+)Zg>^6VI-f5^krEUHS_>>#w_y zkH0DVW$V0@lGx?W{w!l$i9fiA>;N3cWman-uY+llGFWfs|`PFlUhqiH$~Oq{c|&HLi@{%61>EoY+>Zl4!hFaRVuF=(SISBBqZ~8J&18S@%bvwgZQeju={|B^uxMQfllv_x-i^M zotC{pksZqvml_O9l~& z&PFp)Xl&KqVNP9@!L=d~Y<6RcbG?FQLgm_AAU62DaU|`(e!d;; zw{?hH(sI4Vr}SJ_J+FgtO+&=NIP7`Pwj6#;ivYPf2Hv9gsehOSnHU?8M&(bZ97#kfvq!%N zR{V^k#QZc6l{_#wUe9QZvHR_g?#hPHa;@j{RMa08Y(rKBlA6mrPY;w-f%e3*EQ=zU{bh6znK0?t7N0P+NL=8(lrHzWV|1A2 zUA=3%Nh4jEWKcV{6kvk6rH|AhqG3yS{y`+$M$g-qq*7CbUbU_5VR=MHU^8 z4$4wYbXCM!CyWcu`%Jnqcf<k_?-W;ze zA9ITQhy3s|2bCci9($v4S18#n!HbykMZNcdwA7vX!#`@x4b{aiUhomiSpg0r5;89x zmfN(~9a_&e+f(n^5MEqLXFHwvV#~GRH_Oc$@^c0s%paJ0T0;!_?T^I`o;s0l&i_r8 z<1cF15%WekE2w@Lci-Xi;Et!axYorow^n^PTe`S#`u-xuJlXq~4Mi~iB9m;??MKec z-uDUvcNO6Xf~}!9+q-6q&p6}r;vRX#;+`O&5%gr&`^8Lq_xFvYnb3_665?C8BpWPF z0-F8?yd7=aYWfKT+%Lqa32Pn1mMwbh_<@g4ckRik4LUfXDLQyevc=VOc+5rc@y%gl>>O*~*+*wL*-IvCV`4d0*aM6j6GS?Iv(E9n5)P!FFFWhQZf>A<^NyzY~p z;f(|f1qSFjr`Y7W5U%wnpWVK_e*-2vF=l=)rs%w)&Q@@Jq;ybjKZvB8YJUE!^fR_` zE!}6kajjDWzdml`C{^@*qTY;8k?fJ)LYLP=&G+pJN? 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