Problem
Zero-speed position error is the error that remains during a zero-speed
command after the motor comes to rest. Zero-speed position error is ususally
caused by transmission components (backlash, compliance, gear-tooth error)
or feedback error. This problem does not include inaccuracy observed at
speed or caused by load disturbances. See Investigation
of Excessive Following Error" for more information on errors
observed at speed. See Investigation
of Poor Static Stiffness and Investigation
of Poor Dynamic Stiffness for errors induced by load disturbances.
Verification
Simultaneously
monitor the position error as produced the servo controller and the actual
error with an external measuring device. If the monitored error signal goes
to zero while the measured error on the machine is excessive, the problem
is probably zero-speed position error.
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