Nice write up Fernando...thanks.
But as far as Mach and a machine tool is concerned, any backlash compensation applied would be in reference to the input of a planetary reducer.
For instance, if the reducer was 60:1, and the output backlash was 1 arc min., then the input backlash would be 1 arc degree which is what would be used to configure the compensation.
Like your PDF said, Industry standard for servo heads is to measure at the output so you would need to do the math or better yet, set it up at the machine.
Thanks again for the tutorial,
RC