It has no difference if CV is enabled or disabled, via the menu or the
g61/g64 commands.
The effect is the same.
As I see your algorithm works as follows:
The G file is parsed and converted into a tool path list.
The kinematics algorithm calculates the motor speeds.
I think that your backlash correction is done in the RT (mach.sys)
service.
This R service does not have knowladge of the kinematics (only the final
speeds).
If I migh suggest an alternative that algorithm:
After you parse the G file you can scan it for direction changes.
Now you can insert the backlash corrections paths into the path list.
And now calculate the kinematics algorithm for the motor speeds on the new
path, which include the bcklash corrections.
That way you will be able to use baclash correction reguardless of CV
setting (If CV is on there could be a slight drift from the optimal path)
You won't have to deal backlash in a special way.
The backlash corrections would comply with the same
acceleration/deceleration as all other moves.
You won't have to define a speed for backlash correction.
I think that all that has to be done is to scan the desired path list for
direction change, and insert the backlash compensation segments in those
points.
Isak.
