http://softmc.servotronix.com/api.php?action=feedcontributions&feedformat=atom&user=Ron SoftMC-Wiki - User contributions [en] 2026-05-01T18:59:25Z User contributions MediaWiki 1.30.0 http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASS&diff=133131 MC-Basic:element.PAYLOADMASS 2018-10-17T08:27:17Z <p>Ron: typo fix</p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASS}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.7.14<br /> <br /> |DESCRIPTION=<br /> Payload mass of an element.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> kg<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> * [[Control:Assist:PAYLOAD_MASS(MotionDevice)]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMAX&diff=133130 MC-Basic:element.PAYLOADMAX 2018-10-17T08:27:01Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASSMAX}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassMax = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> The maximum allowed mass for the payload of the element. &lt;br /&gt;<br /> <br /> If paylodMass property is set to a larger value, an error is thrown.<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> kg<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|robot.PAYLOADMASS]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMAX&diff=133129 MC-Basic:element.PAYLOADMAX 2018-10-17T08:25:56Z <p>Ron: Created page with &quot;{{Languages}} {{MC-Basic |SHORT FORM= |SYNTAX= ''&lt;element&gt;''.PayloadMassMax = &lt;''expression''&gt; |AVAILABILITY= Since Version 4.20 |DESCRIPTION= The maximum allowed mass for ...&quot;</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassMax = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> The maximum allowed mass for the payload of the element. &lt;br /&gt;<br /> <br /> If paylodMass property is set to a larger value, an error is thrown.<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> kg<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|robot.PAYLOADMASS]]<br /> * [[Control:Assist:PAYLOAD_MASS(MotionDevice)]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:IdentificationStart&diff=133122 MC-Basic:IdentificationStart 2018-10-16T11:48:34Z <p>Ron: Undo revision 133121 by Ron (talk)</p> <hr /> <div>{{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> IdentificationStart &lt;''axis''&gt;&lt;nowiki&gt;|&lt;/nowiki&gt;''&lt;robot&gt;''<br /> {IdentDynamicModel = &lt;''value''&gt;}<br /> {IdentPayload = ''ON&lt;nowiki&gt;|&lt;/nowiki&gt;OFF''}<br /> {IdentFilterFreq = &lt;''value''&gt;}<br /> {IdentFileName = &lt;''value''&gt;}<br /> {IdentRelTeMax = &lt;''value''&gt;}<br /> {IdentRecTimeMax = &lt;''value''&gt;}<br /> {IdentDebug = ''ON&lt;nowiki&gt;|&lt;/nowiki&gt;OFF''}<br /> {IdentSampleGap = &lt;''value''&gt;}<br /> <br /> |AVAILABILITY=<br /> Since Version 4.9.7<br /> <br /> |DESCRIPTION=<br /> Starts dynamic parameters identification for an axis or a robot.<br /> <br /> The typical identification procedure basically contains following steps:<br /> # With ''IdentificationStart'' the identification is configured and the internal recording of the feedback signals is started.<br /> # A kinematics-specific excitation motion is issued by the user (typically [[MC-Basic:SineWave|SineWave]] is used).<br /> # With ''[[MC-Basic:IdentificationFinish|IdentificationFinish]]'' the parameters are computed and written to the result file ''IdentFileName''.prg.<br /> <br /> === Parameters ===<br /> ;IdentDynamicModel <br /> : The dynamic model of which the parameters are identified.<br /> : If not given, the current dynamic model of the motion element is used.<br /> : The values 0 or -1 not allowed:<br /> : If Payload is ON, DynamicModel value is ignored.<br /> <br /> ;IdentPayload<br /> : If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters.<br /> <br /> ;IdentFilterFreq<br /> : Cutoff frequency of the raw signal filter. <br /> : 0 = the frequency is automatically detected<br /> : -1 = no filter is used at all<br /> <br /> ;IdentFileName<br /> : File name without extension of the output files (.PRG, .REC)<br /> : If not given, files are called &quot;IDNT&lt;ElementId&gt;&quot;<br /> <br /> ;IdentRelTeMax<br /> : Percentage of the maximal torque error compared to the maximal torque feedback of an axis. If the maximal TE is higher, the identification is considered to be failed.<br /> <br /> ;IdentRecTimeMax<br /> : Maximal recording time after the start of identification. <br /> <br /> ;IdentDebug<br /> : If enabled, a record file is produced on the softMC containing the signals used for identification:<br /> :* Raw torque and position feedbacks (TbfRaw and PfbRaw)<br /> :* Filtered and derived (velocity, acceleration) feedbacks (Tfb, Pfb, Vfb, Afb)<br /> :* Torque command, which is computed using the identified parameters (Tcmd)<br /> <br /> ;IdentSampleGap<br /> : The recording gap between data points in cycle time units. <br /> <br /> |TYPE=<br /> * ''IdentDynamicModel'' : Long<br /> * ''IdentFilterFreq'' : Double<br /> * ''IdentFileName'' : String<br /> * ''IdentRelTeMax'' : Double<br /> * ''IdentRecTimeMax '' : Double<br /> * ''IdentSampleGap'' : Long<br /> <br /> <br /> |RANGE=<br /> * ''IdentDynamicModel'' : 1, 2, 3, .. (only positive numbers, see [[Dynamic Models|available models]])<br /> <br /> |UNITS=<br /> * ''IdentFilterFreq'' : Herz [Hz]<br /> * ''IdentRelTeMax'' : Percent [%]<br /> * ''IdentRecTimeMax'' : Seconds [s]<br /> * ''IdentSampleGap'' : Cycle Time<br /> <br /> |DEFAULT=<br /> * ''IdentDynamicModel'' : element.DynamicModel<br /> * ''IdentPayload'' : OFF<br /> * ''IdentFilterFreq'' : 0 (auto-detect)<br /> * ''IdentFileName'' : &quot;&quot; (auto-assign)<br /> * ''IdentRelTeMax'' : 50%<br /> * ''IdentRecTimeMax'' : 30s<br /> * ''IdentDebug'' : ON<br /> * ''IdentSampleGap'' : 1<br /> <br /> |SCOPE=<br /> Task or Terminal<br /> <br /> |LIMITATIONS=<br /> * Only one motion element can be identified at the same time.<br /> <br /> |EXAMPLE=<br /> &lt;pre&gt;<br /> Move axis axis.Pmax<br /> SineWave axis axis.Pmin<br /> <br /> IdentificationStart axis<br /> <br /> Sleep 10000<br /> <br /> IdentificationFinish<br /> Print IdentificationStatus<br /> <br /> Stop axis<br /> &lt;/pre&gt;<br /> <br /> <br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:IdentificationFinish|IdentificationFinish]]<br /> * [[MC-Basic:IdentificationStatus|IdentificationStatus]]<br /> * [[MC-Basic:IdentificationCancel|IdentificationCancel]]<br /> * [[MC-Basic:SineWave|SineWave]]<br /> * [[Dynamic Models|Dynamic Models]] <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:IdentificationStart&diff=133121 MC-Basic:IdentificationStart 2018-10-16T11:46:18Z <p>Ron: fix a mistake</p> <hr /> <div>{{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> IdentificationStart &lt;''axis''&gt;&lt;nowiki&gt;|&lt;/nowiki&gt;''&lt;robot&gt;''<br /> {IdentDynamicModel = &lt;''value''&gt;}<br /> {IdentPayload = ''ON&lt;nowiki&gt;|&lt;/nowiki&gt;OFF''}<br /> {IdentFilterFreq = &lt;''value''&gt;}<br /> {IdentFileName = &lt;''value''&gt;}<br /> {IdentRelTeMax = &lt;''value''&gt;}<br /> {IdentRecTimeMax = &lt;''value''&gt;}<br /> {IdentDebug = ''ON&lt;nowiki&gt;|&lt;/nowiki&gt;OFF''}<br /> {IdentSampleGap = &lt;''value''&gt;}<br /> <br /> |AVAILABILITY=<br /> Since Version 4.9.7<br /> <br /> |DESCRIPTION=<br /> Starts dynamic parameters identification for an axis or a robot.<br /> <br /> The typical identification procedure basically contains following steps:<br /> # With ''IdentificationStart'' the identification is configured and the internal recording of the feedback signals is started.<br /> # A kinematics-specific excitation motion is issued by the user (typically [[MC-Basic:SineWave|SineWave]] is used).<br /> # With ''[[MC-Basic:IdentificationFinish|IdentificationFinish]]'' the parameters are computed and written to the result file ''IdentFileName''.prg.<br /> <br /> === Parameters ===<br /> ;IdentDynamicModel <br /> : The dynamic model of which the parameters are identified.<br /> : If not given, the current dynamic model of the motion element is used.<br /> : The values 0 or -1 not allowed:<br /> <br /> ;IdentPayload<br /> : If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters.<br /> <br /> ;IdentFilterFreq<br /> : Cutoff frequency of the raw signal filter. <br /> : 0 = the frequency is automatically detected<br /> : -1 = no filter is used at all<br /> <br /> ;IdentFileName<br /> : File name without extension of the output files (.PRG, .REC)<br /> : If not given, files are called &quot;IDNT&lt;ElementId&gt;&quot;<br /> <br /> ;IdentRelTeMax<br /> : Percentage of the maximal torque error compared to the maximal torque feedback of an axis. If the maximal TE is higher, the identification is considered to be failed.<br /> <br /> ;IdentRecTimeMax<br /> : Maximal recording time after the start of identification. <br /> <br /> ;IdentDebug<br /> : If enabled, a record file is produced on the softMC containing the signals used for identification:<br /> :* Raw torque and position feedbacks (TbfRaw and PfbRaw)<br /> :* Filtered and derived (velocity, acceleration) feedbacks (Tfb, Pfb, Vfb, Afb)<br /> :* Torque command, which is computed using the identified parameters (Tcmd)<br /> <br /> ;IdentSampleGap<br /> : The recording gap between data points in cycle time units. <br /> <br /> |TYPE=<br /> * ''IdentDynamicModel'' : Long<br /> * ''IdentFilterFreq'' : Double<br /> * ''IdentFileName'' : String<br /> * ''IdentRelTeMax'' : Double<br /> * ''IdentRecTimeMax '' : Double<br /> * ''IdentSampleGap'' : Long<br /> <br /> <br /> |RANGE=<br /> * ''IdentDynamicModel'' : 1, 2, 3, .. (only positive numbers, see [[Dynamic Models|available models]])<br /> <br /> |UNITS=<br /> * ''IdentFilterFreq'' : Herz [Hz]<br /> * ''IdentRelTeMax'' : Percent [%]<br /> * ''IdentRecTimeMax'' : Seconds [s]<br /> * ''IdentSampleGap'' : Cycle Time<br /> <br /> |DEFAULT=<br /> * ''IdentDynamicModel'' : element.DynamicModel<br /> * ''IdentPayload'' : OFF<br /> * ''IdentFilterFreq'' : 0 (auto-detect)<br /> * ''IdentFileName'' : &quot;&quot; (auto-assign)<br /> * ''IdentRelTeMax'' : 50%<br /> * ''IdentRecTimeMax'' : 30s<br /> * ''IdentDebug'' : ON<br /> * ''IdentSampleGap'' : 1<br /> <br /> |SCOPE=<br /> Task or Terminal<br /> <br /> |LIMITATIONS=<br /> * Only one motion element can be identified at the same time.<br /> <br /> |EXAMPLE=<br /> &lt;pre&gt;<br /> Move axis axis.Pmax<br /> SineWave axis axis.Pmin<br /> <br /> IdentificationStart axis<br /> <br /> Sleep 10000<br /> <br /> IdentificationFinish<br /> Print IdentificationStatus<br /> <br /> Stop axis<br /> &lt;/pre&gt;<br /> <br /> <br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:IdentificationFinish|IdentificationFinish]]<br /> * [[MC-Basic:IdentificationStatus|IdentificationStatus]]<br /> * [[MC-Basic:IdentificationCancel|IdentificationCancel]]<br /> * [[MC-Basic:SineWave|SineWave]]<br /> * [[Dynamic Models|Dynamic Models]] <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=Payloads&diff=132995 Payloads 2018-10-09T14:14:16Z <p>Ron: add puma</p> <hr /> <div>This page gives an overview over the available payload properties, their uses and meaning.<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload times gravity - &lt;math&gt;M_{payload} \cdot g \cdot L [Nm]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> When using identification with this model, all of the payload parameters can be found. &lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 4 ===<br /> This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3. &lt;br /&gt;<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 5 ===<br /> This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. &lt;br /&gt;<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Puma Robots ==<br /> === Dynamic Model 1 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 6th axis direction relative to the 6th axis location - &lt;math&gt;I_{payload,zz} [kg \cdot m^2]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASS|payloadMassRMass]] - the payload mass times the distance to the center of mass of the payload in the TCP z axis direction - &lt;math&gt;M_{payload} \cdot R_{c.m,z} [kg \cdot m]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload in the TCP z axis direction times gravity - &lt;math&gt;M_{payload} \cdot g \cdot R_{c.m,z} [Nm]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the TCP x axis direction relative to the 5th axis location - &lt;math&gt;I_{payload,xx} + R_{c.m,z}^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - Gravity ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;</div> Ron http://softmc.servotronix.com/index.php?title=Payloads&diff=132994 Payloads 2018-10-09T13:52:51Z <p>Ron: fix typos in SCARA</p> <hr /> <div>This page gives an overview over the available payload properties, their uses and meaning.<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload times gravity - &lt;math&gt;M_{payload} \cdot g \cdot L [Nm]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> When using identification with this model, all of the payload parameters can be found. &lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 4 ===<br /> This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3. &lt;br /&gt;<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 5 ===<br /> This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. &lt;br /&gt;<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;</div> Ron http://softmc.servotronix.com/index.php?title=Payloads&diff=132993 Payloads 2018-10-09T13:51:21Z <p>Ron: add delta</p> <hr /> <div>This page gives an overview over the available payload properties, their uses and meaning.<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload times gravity - &lt;math&gt;M_{payload} \cdot g \cdot L [Nm]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> When using identification with this model, all of the payload parameters can be found. &lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 4 ===<br /> This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3. &lt;br /&gt;<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 5 ===<br /> This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. &lt;br /&gt;<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;</div> Ron http://softmc.servotronix.com/index.php?title=Payloads&diff=132992 Payloads 2018-10-09T13:47:55Z <p>Ron: add scara</p> <hr /> <div>This page gives an overview over the available payload properties, their uses and meaning.<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload times gravity - &lt;math&gt;M_{payload} \cdot g \cdot L [Nm]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> When using identification with this model, all of the payload parameters can be found. &lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 4 ===<br /> This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3. &lt;br /&gt;<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 5 ===<br /> This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. &lt;br /&gt;<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.&lt;/math&gt;.<br /> * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - &lt;math&gt;L_x [m]&lt;/math&gt;.&lt;br /&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;</div> Ron http://softmc.servotronix.com/index.php?title=Payloads&diff=132991 Payloads 2018-10-09T13:20:59Z <p>Ron: information for single axis</p> <hr /> <div>This page gives an overview over the available payload properties, their uses and meaning.<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} [kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> The relevant payload properties for this model are:<br /> * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload times gravity - &lt;math&gt;M_{payload} \cdot g \cdot L [Nm]&lt;/math&gt;.<br /> * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the axis direction relative to the axis location - &lt;math&gt;I_{payload} + L^2 \cdot M_{payload}[kg \cdot m^2]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> The relevant payload property for this model is:<br /> * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - &lt;math&gt;M_{payload} [kg]&lt;/math&gt;.<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMSQ_IXX&diff=132989 MC-Basic:element.PAYLOADMASSRMSQ IXX 2018-10-09T12:56:07Z <p>Ron: Ron moved page MC-Basic:robot.PAYLOADMASSRMASSSQIXX to MC-Basic:element.PAYLOADMASSRMASSSQIXX: mistake, this is for element</p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASSRMASSSQIXX}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMassSqIxx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMG&diff=132987 MC-Basic:element.PAYLOADMASSRMG 2018-10-09T12:55:12Z <p>Ron: Ron moved page MC-Basic:robot.PAYLOADMASSRMASSG to MC-Basic:element.PAYLOADMASSRMASSG: mistake, this is for element</p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASSRMASSG}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2/sec^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRM&diff=132986 MC-Basic:element.PAYLOADMASSRM 2018-10-09T12:54:55Z <p>Ron: mistake, this is for element</p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASSRMASS}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRM&diff=132984 MC-Basic:element.PAYLOADMASSRM 2018-10-09T12:54:34Z <p>Ron: Ron moved page MC-Basic:robot.PAYLOADMASSRMASS to MC-Basic:element.PAYLOADMASSRMASS: mistake, this is for element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADINERTIA&diff=132983 MC-Basic:element.PAYLOADINERTIA 2018-10-09T09:09:22Z <p>Ron: property for element, not just robot</p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADINERTIA}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadInertia = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.7.14<br /> <br /> |DESCRIPTION=<br /> Payload inertia of mass around the axis of the last joint.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> &lt;math&gt;kg \cdot m^2&lt;/math&gt;<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]]<br /> * [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]]<br /> * [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]]<br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLZ&diff=132979 MC-Basic:robot.PAYLOADLZ 2018-10-09T09:09:04Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:robot.PAYLOADLZ}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadLz = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of a robot in the tool's z direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRM&diff=132980 MC-Basic:element.PAYLOADMASSRM 2018-10-09T09:09:04Z <p>Ron: </p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMG&diff=132981 MC-Basic:element.PAYLOADMASSRMG 2018-10-09T09:09:04Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASSRMASSG}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2/sec^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMSQ_IXX&diff=132982 MC-Basic:element.PAYLOADMASSRMSQ IXX 2018-10-09T09:09:04Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASSRMASSSQIXX}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMassSqIxx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.DYNAMICMODEL&diff=132973 MC-Basic:element.DYNAMICMODEL 2018-10-09T09:09:03Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:element.DYNAMICMODEL}}<br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> &lt;''element''&gt;.DynamicModel = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.7.14<br /> <br /> |DESCRIPTION=<br /> Dynamic model of an element: <br /> <br /> The dynamic model calculates needed torques/forces during a commanded motion.<br /> The torques are then sent to the drives as &quot;additional torque command&quot; (torque feed forward), which helps to improve the motion performance.<br /> <br /> Possible values:<br /> ;0<br /> : No dynamic model. All dynamic computation during element motion for this element are disabled.&lt;br&gt; <br /> <br /> ;-1 (group only)<br /> : Dynamic computations during group motions are based on the dynamic models of its axes.<br /> : In this case dynamic models must be enabled and parametrized for each axis separately. <br /> : During group/robot motions, the group payload ([[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]] and [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]]) is used (instead of axes payloads). Other group dynamic parameters are ignored.<br /> <br /> ;1 ..<br /> : See [[Dynamic Models]] for a list of available axis models.<br /> : Model dependent parameters are expected to be set in [[MC-Basic:element.DYNAMICPARAMETER]].<br /> <br /> |TYPE=<br /> Long<br /> <br /> |RANGE=<br /> -1 (group only), 0, 1, ..., 15<br /> <br /> |UNITS=<br /> |DEFAULT=<br /> 0 (No dynamic model)<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.DYNAMICPARAMETER|DYNAMICPARAMETER]]<br /> * [[Dynamic Models|Dynamic Models]] <br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASS&diff=132974 MC-Basic:element.PAYLOADMASS 2018-10-09T09:09:03Z <p>Ron: </p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.7.14<br /> <br /> |DESCRIPTION=<br /> Payload mass of a element.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> kg<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> * [[Control:Assist:PAYLOAD_MASS(MotionDevice)]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.DYNAMICMODEL/zh-hans&diff=132975 MC-Basic:element.DYNAMICMODEL/zh-hans 2018-10-09T09:09:03Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:element.DYNAMICMODEL}}<br /> == 缩写 ==<br /> <br /> == 格式 ==<br /> &lt;''element''&gt;.DynamicModel = &lt;''expression''&gt;<br /> <br /> == 适用版本 ==<br /> 从版本4.7.14起<br /> <br /> == 描述 ==<br /> 元素的动力学模型： <br /> <br /> 动力学模型在运动命令期间计算所需的扭矩/力。<br /> 然后将扭矩作为&quot;附加扭矩指令&quot;（扭矩前馈）发送到驱动器，这有助于提高运动性能。<br /> <br /> 可能的值:<br /> ;0<br /> : 无动力学模型。元素运动期间对于该元素的所有动力学计算均被禁用。&lt;br&gt; <br /> <br /> ;-1 (仅对组)<br /> : 组运动期间的动力学计算基于其轴的动力学模型。<br /> : 在这种情况下，必须分别为每个轴启用和参数化动力学模型。 <br /> : 在组/机器人运动期间，使用组有效载荷([[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]和[[MC-Basic:element.PAYLOADMASS|robot.PAYLOADMASS]])（而不是轴有效载荷）。 其他组动力学参数被忽略。 <br /> <br /> ;1 ..<br /> : 有关可用轴模型的列表，请参见 [[Dynamic Models]]。<br /> : 模型相关预计参数将被设置在[[MC-Basic:element.DYNAMICPARAMETER]].<br /> <br /> == 类型 ==<br /> Long<br /> <br /> == 取值范围 ==<br /> -1 (group only), 0, 1, ..., 15<br /> <br /> == 单位 ==<br /> <br /> == 默认 ==<br /> 0 (无动力学模型)<br /> <br /> == 使用范围 ==<br /> Task and Terminal<br /> <br /> == 限制 ==<br /> * Read/Write<br /> * Modal only<br /> <br /> == 例子 ==<br /> <br /> == 参考 ==<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.DYNAMICPARAMETER|DYNAMICPARAMETER]]<br /> * [[Dynamic Models|Dynamic Models]] <br /> <br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASS/zh-hans&diff=132976 MC-Basic:element.PAYLOADMASS/zh-hans 2018-10-09T09:09:03Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:element.PAYLOADMASS}}<br /> == 缩写 ==<br /> <br /> == 格式 ==<br /> ''&lt;element&gt;''.PayloadMass = &lt;''expression''&gt;<br /> <br /> == 适用版本 ==<br /> 从版本4.7.14起<br /> <br /> == 描述 ==<br /> 元素的有效载荷质量。<br /> <br /> 在通过[[MC-Basic:element.DYNAMICMODEL|dynamic model]]计算关节扭矩时考虑该值。<br /> <br /> == 类型 ==<br /> Double<br /> <br /> == 取值范围 ==<br /> <br /> == 单位 ==<br /> kg<br /> <br /> == 默认 ==<br /> 0.0<br /> <br /> == 使用范围 ==<br /> Task and Terminal<br /> <br /> == 限制 ==<br /> * Read/Write<br /> * Modal only<br /> <br /> == 例子 ==<br /> <br /> == 参考 ==<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> * [[Control:Assist:PAYLOAD_MASS(MotionDevice)]]<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLX&diff=132977 MC-Basic:robot.PAYLOADLX 2018-10-09T09:09:03Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:robot.PAYLOADLX}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadLx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of a robot in the tool's x direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLY&diff=132978 MC-Basic:robot.PAYLOADLY 2018-10-09T09:09:03Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:robot.PAYLOADLY}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadLy = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of a robot in the tool's y direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADINERTIA&diff=132969 MC-Basic:element.PAYLOADINERTIA 2018-10-09T09:09:02Z <p>Ron: Ron moved page MC-Basic:robot.PAYLOADINERTIA to MC-Basic:element.PAYLOADINERTIA: property for element, not just robot</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadInertia = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.7.14<br /> <br /> |DESCRIPTION=<br /> Payload inertia of mass around the axis of the last joint.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> &lt;math&gt;kg \cdot m^2&lt;/math&gt;<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]]<br /> * [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]]<br /> * [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]]<br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:axis.PAYLOADINERTIA&diff=132971 MC-Basic:axis.PAYLOADINERTIA 2018-10-09T09:09:02Z <p>Ron: </p> <hr /> <div>{{Languages|MC-Basic:axis.PAYLOADINERTIA}}<br /> == 缩写 ==<br /> <br /> == 格式 ==<br /> ''&lt;''axis''&gt;''.PayloadInertia = ''&lt;expression&gt;''<br /> <br /> == 可用版本 ==<br /> 从版本4.7.14起<br /> <br /> == 描述 ==<br /> 轴的质量有效载荷惯量。<br /> 在 [[MC-Basic:.DYNAMICMODEL|dynamic model]]计算关节扭矩期间考虑该值。<br /> <br /> == 类型 ==<br /> Double<br /> <br /> == 取值范围 ==<br /> <br /> == 单位 ==<br /> kg/cdot m&lt;sup&gt;2&lt;/sup&gt;<br /> <br /> == 默认 ==<br /> 0.0<br /> <br /> == 使用范围 ==<br /> Task and Terminal<br /> <br /> == 限制 ==<br /> * 读/写<br /> * 仅模态<br /> <br /> == 例子 ==<br /> <br /> == 参见 ==<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> * [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]]<br /> * [[Control:Assist:PAYLOAD_MASS(MotionDevice)]]<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=Motion_Commands_Reference_List&diff=132972 Motion Commands Reference List 2018-10-09T09:09:02Z <p>Ron: </p> <hr /> <div>&lt;div id=&quot;BackToTop&quot; class=&quot;noprint&quot; style=&quot;background-color:; position:fixed; bottom:32px; left:95%; z-index:9999; padding:0; margin:0;&quot;&gt;<br /> &lt;span style=&quot;color:blue; font-size:8pt; font-face:verdana,sans-serif; border:0.2em outset:#ceebf7; padding:0.1em; font-weight:bolder; -moz-border-radius:8px; &quot;&gt;<br /> [[Image:TOP2.png|50px|link=#top]] &lt;/span&gt;&lt;/div&gt;<br /> <br /> ==Motion Commands==<br /> <br /> * [[MC-Basic:ATTACH| ATTACH]]<br /> * [[MC-Basic:CHECKCAMMONOTONIC| CHECKCAMMONOTONIC ]]<br /> * [[MC-Basic:MOVE| MOVE ]]<br /> * [[MC-Basic:MOVES| MOVES ]]<br /> * [[MC-Basic:MOVESKD| MOVESKD ]]<br /> * [[MC-Basic:CIRCLE| CIRCLE ]]<br /> * [[MC-Basic:DELAY| DELAY ]]<br /> * [[MC-Basic:CONFIGGROUP| CONFIGGROUP ]]<br /> * [[MC-Basic:CREATECAMDATA| CREATECAMDATA ]]<br /> * [[MC-Basic:CREATECOMP| CREATECOMP ]]<br /> * [[MC-Basic:CREATEPLSDATA| CREATEPLSDATA ]]<br /> * [[MC-Basic:DELETECAM| DELETECAM ]]<br /> * [[MC-Basic:DELETEGROUP| DELETEGROUP ]]<br /> * [[MC-Basic:DELETEMOVINGFRAME| DELETEMOVINGFRAME ]]<br /> * [[MC-Basic:DELETEPLS| DELETEPLS ]]<br /> * [[MC-Basic:DOPASS| DOPASS ]]<br /> * [[MC-Basic:JOG| JOG ]]<br /> * [[MC-Basic:LOADCAMDATA| LOADCAMDATA ]]<br /> * [[MC-Basic:STORECAMDATA|STORECAMDATA]]<br /> * [[MC-Basic:LOADCOMPDATA| LOADCOMPDATA ]]<br /> * [[MC-Basic:LOADCOMPDATA$| LOADCOMPDATA$]]<br /> * [[MC-Basic:NEXTITEM| NEXTITEM ]]<br /> * [[MC-Basic:NOOFCOORDINATES| NOOFCOORDINATES ]]<br /> * [[MC-Basic:PASS| PASS ]]<br /> * [[MC-Basic:PROCEED| PROCEED ]]<br /> * [[MC-Basic:STOP| STOP ]]<br /> * [[MC-Basic:SYNCALL| SYNCALL ]]<br /> * [[MC-Basic:SYNCCLEAR| SYNCCLEAR ]]<br /> * [[MC-Basic:SYNCSTART| SYNCSTART ]]<br /> * [[MC-Basic:TOCART| TOCART ]]<br /> * [[MC-Basic:TOJOINT| TOJOINT ]]<br /> * [[MC-Basic:TORQUE| TORQUE ]]<br /> * [[MC-Basic:UNCONFIGGROUP| UNCONFIGGROUP ]]<br /> <br /> ==Axis Properties==<br /> <br /> * [[MC-Basic:element.ABSENABLE| ABSENABLE ]]<br /> * [[MC-Basic:element.ABSOLUTE| ABSOLUTE ]]<br /> * [[MC-Basic:element.ACCELERATION| ACCELERATION ]]<br /> * [[MC-Basic:axis.ACCELERATIONCOMMAND| ACCELERATIONCOMMAND ]]<br /> * [[MC-Basic:element.ACCELERATIONFACTOR| ACCELERATIONFACTOR ]]<br /> * [[Category talk:MC-Basic:axis.ACCELERATIONMAX| ACCELERATIONMAX ]]<br /> * [[MC-Basic:element.ACCELERATIONRATE| ACCELERATIONRATE ]]<br /> * [[MC-Basic:axis.ACTIVECAM| ACTIVECAM ]]<br /> * [[MC-Basic:axis.ALTERNATIVECAM| ALTERNATIVECAM ]]<br /> * [[MC-Basic:axis.ALTERNATIVECAM.NAME| ALTERNATIVECAM.NAME ]]<br /> * [[MC-Basic:axis.ALTERNATIVEOFFSET| ALTERNATIVEOFFSET ]]<br /> * [[MC-Basic:element.ATTACHEDTO| ATTACHEDTO ]]<br /> * [[MC-Basic:axis.AXISNAME| AXISNAME ]]<br /> * [[MC-Basic:axis.AXISTYPE| AXISTYPE ]]<br /> * [[MC-Basic:element.BLENDINGFACTOR| BLENDINGFACTOR ]]<br /> * [[MC-Basic:element.BLENDINGFACTORPREVIOUS| BLENDINGFACTORPREVIOUS ]]<br /> * [[MC-Basic:element.BLENDINGMETHOD| BLENDINGMETHOD ]]<br /> * [[MC-Basic:element.BLENDINGSTARTCONDITION| BLENDINGSTARTCONDITION ]]<br /> * [[MC-Basic:element.BLENDPROTECTED| BLENDPROTECTED ]]<br /> * [[MC-Basic:axis.CAMCYCLE| CAMCYCLE ]]<br /> * [[MC-Basic:axis.CAMINDEX| CAMINDEX ]]<br /> * [[MC-Basic:axis.CAMOFFSET| CAMOFFSET ]]<br /> * [[MC-Basic:axis.CAMVALUE| CAMVALUE ]]<br /> * [[MC-Basic:axis.CAPTURE| CAPTURE ]]<br /> * [[MC-Basic:axis.CAPTUREINPUT| CAPTUREINPUT ]]<br /> * [[MC-Basic:axis.CAPTUREPOLARITY| CAPTUREPOLARITY ]]<br /> * [[MC-Basic:axis.CAPTUREPOSITION| CAPTUREPOSITION ]]<br /> * [[MC-Basic:axis.CAPTURESOURCE| CAPTURESOURCE ]]<br /> * [[MC-Basic:axis.COMPENSATIONSOURCE| COMPENSATIONSOURCE ]]<br /> * [[MC-Basic:axis.COMPPOSITIONCOMMAND| COMPPOSITIONCOMMAND ]]<br /> * [[MC-Basic:axis.COMPPOSITIONFEEDBACK| COMPPOSITIONFEEDBACK ]]<br /> * [[MC-Basic:axis.COULOMBFRICTION| COULOMBFRICTION ]]<br /> * [[MC-Basic:axis.COUNTCOMMAND| COUNTCOMMAND ]]<br /> * [[MC-Basic:axis.COUNTEXTERNAL| COUNTEXTERNAL ]]<br /> * [[MC-Basic:axis.CountExtMax| CountExtMax ]]<br /> * [[MC-Basic:axis.CountExtMin| CountExtMin ]]<br /> * [[MC-Basic:axis.CountExtRollOver| CountExtRollOver ]]<br /> * [[MC-Basic:axis.COUNTFEEDBACK| COUNTFEEDBACK ]]<br /> * [[MC-Basic:axis.CountMax| CountMax ]]<br /> * [[MC-Basic:axis.CountMin| CountMin ]]<br /> * [[MC-Basic:axis.CountRollOver| CountRollOver ]]<br /> * [[MC-Basic:axis.COUNTTORQUEADDITIVECOMMAND| COUNTTORQUEADDITIVECOMMAND ]]<br /> * [[MC-Basic:axis.COUNTTORQUECOMMAND| COUNTTORQUECOMMAND ]]<br /> * [[MC-Basic:axis.COUNTTORQUEDRIVECOMMAND| COUNTTORQUEDRIVECOMMAND ]]<br /> * [[MC-Basic:axis.COUNTTORQUEFEEDBACK| COUNTTORQUEFEEDBACK ]]<br /> * [[MC-Basic:element.CP| CP ]]<br /> * [[MC-Basic:element.CURRENTABSOLUTE| CURRENTABSOLUTE ]]<br /> * [[MC-Basic:element.CURRENTTIME| CURRENTTIME ]]<br /> * [[MC-Basic:element.DECELERATION| DECELERATION ]]<br /> * [[MC-Basic:element.DECELERATIONMAX| DECELERATIONMAX ]]<br /> * [[MC-Basic:element.DECELERATIONRATE| DECELERATIONRATE ]]<br /> * [[MC-Basic:axis.DECELERATIONSTOP| DECELERATIONSTOP ]]<br /> * [[MC-Basic:axis.DIRECTION| DIRECTION ]]<br /> * [[MC-Basic:axis.DIRECTIONEXTERNAL| DIRECTIONEXTERNAL ]]<br /> * [[MC-Basic:axis.DISABLETIMEOUT| DISABLETIMEOUT ]]<br /> * [[MC-Basic:axis.DISPLACEMENT| DISPLACEMENT ]]<br /> * [[MC-Basic:element.DOUBLEMODE| DOUBLEMODE ]]<br /> * [[MC-Basic:axis.DRIVEADDRESS| DRIVEADDRESS ]]<br /> * [[MC-Basic:axis.DRIVECONTROL| DRIVECONTROL ]]<br /> * [[MC-Basic:axis.DRIVEENABLE| DRIVEENABLE ]]<br /> * [[MC-Basic:axis.DRIVEON| DRIVEON ]]<br /> * [[MC-Basic:axis.DRIVEOPMODE| DRIVEOPMODE ]]<br /> * [[MC-Basic:axis.DRIVESTATUS| DRIVESTATUS ]]<br /> * [[MC-Basic:element.DYNAMICMODEL| DYNAMICMODEL ]]<br /> * [[MC-Basic:element.DYNAMICPARAMETER| DYNAMICPARAMETER ]]<br /> * [[MC-Basic:element.ELEMENTID| ELEMENTID ]]<br /> * [[MC-Basic:element.ELEMENTNAME| ELEMENTNAME ]]<br /> * [[MC-Basic:element.ELEMENTSIZE| ELEMENTSIZE ]]<br /> * [[MC-Basic:element.ENABLE| ENABLE ]]<br /> * [[MC-Basic:axis.FASTDATAENABLE| FASTDATAENABLE ]]<br /> * [[MC-Basic:axis.FEEDBACK| FEEDBACK ]]<br /> * [[MC-Basic:axis.FIRSTCAM| FIRSTCAM ]]<br /> * [[MC-Basic:axis.FIRSTCAM.NAME| FIRSTCAM.NAME ]]<br /> * [[MC-Basic:axis.FOLLOWINGMODE| FOLLOWINGMODE ]]<br /> * [[MC-Basic:axis.GEARRATIO| GEARRATIO ]]<br /> * [[MC-Basic:axis.HALTRESTART| HALTRESTART ]]<br /> * [[MC-Basic:axis.HOLDTYPE| HOLDTYPE ]]<br /> * [[MC-Basic:axis.HOMEACCELERATION| HOMEACCELERATION ]]<br /> * [[MC-Basic:axis.HOMEDIRECTION| HOMEDIRECTION ]]<br /> * [[MC-Basic:axis.HOMEDISTANCE| HOMEDISTANCE ]]<br /> * [[MC-Basic:axis.HOMEDISTANCEMAX| HOMEDISTANCEMAX ]]<br /> * [[MC-Basic:axis.HOMEOFFSET| HOMEOFFSET ]]<br /> * [[MC-Basic:axis.HOMEPOLARITY| HOMEPOLARITY ]]<br /> * [[MC-Basic:axis.HOMERETURN| HOMERETURN ]]<br /> * [[MC-Basic:axis.HOMESTATUS| HOMESTATUS ]]<br /> * [[MC-Basic:axis.HOMETYPE| HOMETYPE ]]<br /> * [[MC-Basic:axis.HOMEVELOCITY| HOMEVELOCITY ]]<br /> * [[MC-Basic:axis.IN1| IN1]]<br /> * [[MC-Basic:axis.IN1MODE| IN1MODE ]]<br /> * [[MC-Basic:axis.IN2| IN2]]<br /> * [[MC-Basic:axis.IN2MODE| IN2MODE ]]<br /> * [[MC-Basic:axis.IN3| IN3]]<br /> * [[MC-Basic:axis.IN3MODE| IN3MODE ]]<br /> * [[MC-Basic:element.INTERPOLATIONTYPE| INTERPOLATIONTYPE ]]<br /> * [[MC-Basic:element.ISMOVING| ISMOVING ]]<br /> * [[MC-Basic:element.ISSETTLED| ISSETTLED ]]<br /> * [[MC-Basic:axis.ISSWAPED| ISSWAPED ]]<br /> * [[MC-Basic:element.JERK| JERK ]]<br /> * [[MC-Basic:element.JERKACCELERATIONPERCENTAGE| JERKACCELERATIONPERCENTAGE ]]<br /> &lt;!--* [[MC-Basic:axis.JERKDECELERATIONPERCENTAGE| JERKDECELERATIONPERCENTAGE ]]--&gt;<br /> * [[MC-Basic:element.JERKFACTOR| JERKFACTOR ]]<br /> * [[MC-Basic:element.JERKMAX| JERKMAX ]]<br /> * [[MC-Basic:element.JERKRATE| JERKRATE ]]<br /> * [[MC-Basic:axis.MASTERSOURCE| MASTERSOURCE ]]<br /> * [[MC-Basic:axis.MasterSource.Name| MasterSource.Name ]]<br /> * [[MC-Basic:axis.MASTERSYNC| MASTERSYNC ]]<br /> * [[MC-Basic:axis.MAXOFFSET| MAXOFFSET ]]<br /> * [[MC-Basic:axis.ModelOffset| ModelOffset ]]<br /> * [[MC-Basic:element.MOTION| MOTION ]]<br /> * [[MC-Basic:axis.MOTIONBUSVELOCITYBASE| MOTIONBUSVELOCITYBASE ]]<br /> * [[MC-Basic:axis.MOTIONBUSVELOCITYSCALE| MOTIONBUSVELOCITYSCALE ]]<br /> * [[MC-Basic:element.MOTIONSTATUS| MOTIONSTATUS ]]<br /> * [[MC-Basic:axis.OPMODE| OPMODE ]]<br /> * [[MC-Basic:axis.OPMODEMAP| OPMODEMAP ]]<br /> * [[MC-Basic:axis.PAYLOADINERTIA| PAYLOADINERTIA ]]<br /> * [[MC-Basic:element.PAYLOADMASS| PAYLOADMASS ]]<br /> &lt;!-- * [[MC-Basic:axis.PIPEMODE | PIPEMODE ]] --&gt;<br /> * [[MC-Basic:element.PLSSOURCE| PLSSOURCE ]]<br /> * [[MC-Basic:axis.PositionBacklash| PositionBacklash ]]<br /> * [[MC-Basic:axis.PositionBacklashAlpha| PositionBacklashAlpha ]]<br /> * [[MC-Basic:element.POSITIONCOMMAND| POSITIONCOMMAND ]]<br /> * [[MC-Basic:element.POSITIONCOMMANDHISTORY| POSITIONCOMMANDHISTORY ]]<br /> * [[MC-Basic:element.POSITIONERROR| POSITIONERROR ]]<br /> * [[MC-Basic:element.POSITIONERRORDELAY| POSITIONERRORDELAY ]]<br /> * [[MC-Basic:element.POSITIONERRORMAX| POSITIONERRORMAX ]]<br /> * [[MC-Basic:element.POSITIONERRORSETTLE| POSITIONERRORSETTLE ]]<br /> * [[MC-Basic:axis.POSITIONEXTERNAL| POSITIONEXTERNAL ]]<br /> * [[MC-Basic:axis.POSITIONEXTERNALFACTOR| POSITIONEXTERNALFACTOR ]]<br /> * [[MC-Basic:axis.POSITIONEXTROLLOVER| POSITIONEXTROLLOVER ]]<br /> * [[MC-Basic:axis.POSITIONEXTROLLOVERENABLE| POSITIONEXTROLLOVERENABLE ]]<br /> * [[MC-Basic:axis.POSITIONEXTROLLOVERMIN| POSITIONEXTROLLOVERMIN ]]<br /> * [[MC-Basic:axis.POSITIONFACTOR| POSITIONFACTOR ]]<br /> * [[MC-Basic:element.POSITIONFEEDBACK| POSITIONFEEDBACK ]]<br /> * [[MC-Basic:element.POSITIONFINAL| POSITIONFINAL ]]<br /> * [[MC-Basic:axis.POSITIONMAX| POSITIONMAX ]]<br /> * [[MC-Basic:axis.POSITIONMAXENABLE| POSITIONMAXENABLE ]]<br /> * [[MC-Basic:axis.POSITIONMIN| POSITIONMIN ]]<br /> * [[MC-Basic:axis.POSITIONMINENABLE| POSITIONMINENABLE ]]<br /> * [[MC-Basic:axis.POSITIONROLLOVER| POSITIONROLLOVER ]]<br /> * [[MC-Basic:axis.POSITIONROLLOVERENABLE| POSITIONROLLOVERENABLE ]]<br /> * [[MC-Basic:axis.POSITIONROLLOVERMIN| POSITIONROLLOVERMIN ]]<br /> * [[MC-Basic:element.POSITIONTOGO| POSITIONTOGO ]]<br /> &lt;!--* [[MC-Basic:axis.PROCEDURECHANGEBIT | PROCEDURECHANGEBIT ]]--&gt;<br /> * [[MC-Basic:element.PROCEEDTYPE| PROCEEDTYPE ]]<br /> * [[MC-Basic:element.PROFILERTYPE| PROFILERTYPE ]]<br /> * [[MC-Basic:axis.REALTIMECONTROLBIT| REALTIMECONTROLBIT ]]<br /> * [[MC-Basic:axis.REALTIMESTATUSBIT| REALTIMESTATUSBIT ]]<br /> * [[MC-Basic:element.RESCUEMODE| RESCUEMODE ]]<br /> * [[MC-Basic:axis.RTCB1| RTCB1]]<br /> * [[MC-Basic:axis.RTCB1 MODE| RTCB1 MODE ]]<br /> * [[MC-Basic:axis.RTCB2| RTCB2]]<br /> * [[MC-Basic:axis.RTCB2 MODE| RTCB2 MODE ]]<br /> * [[MC-Basic:axis.RTSB1 MODE| RTSB1 MODE ]]<br /> * [[MC-Basic:axis.RTSB2 MODE| RTSB2 MODE ]]<br /> * [[MC-Basic:axis.SIMULATED| SIMULATED ]]<br /> * [[MC-Basic:element.SineWaveFreq| SineWaveFreq ]]<br /> * [[MC-Basic:element.SLAVE| SLAVE ]]<br /> * [[MC-Basic:axis.SLAVEDEVIATION| SLAVEDEVIATION ]]<br /> * [[MC-Basic:axis.SLAVEDISABLE| SLAVEDISABLE ]]<br /> * [[MC-Basic:axis.SLAVEDISCONNECT| SLAVEDISCONNECT ]]<br /> * [[MC-Basic:axis.SLAVELAG| SLAVELAG ]]<br /> * [[MC-Basic:axis.SLAVEMAXDEVIATION| SLAVEMAXDEVIATION ]]<br /> * [[MC-Basic:element.SMOOTHFACTOR| SMOOTHFACTOR ]]<br /> * [[MC-Basic:element.STARTTYPE| STARTTYPE ]]<br /> * [[MC-Basic:element.STOPTYPE| STOPTYPE ]]<br /> * [[MC-Basic:axis.SUMTORQUE| SUMTORQUE ]]<br /> * [[MC-Basic:element.TIMEACCELERATION| TIMEACCELERATION ]]<br /> * [[MC-Basic:element.TIMEACCMIN| TIMEACCMIN ]]<br /> * [[MC-Basic:element.TIMEDECELERATION| TIMEDECELERATION ]]<br /> * [[MC-Basic:element.TIMEDECMIN| TIMEDECMIN ]]<br /> * [[MC-Basic:axis.TIMEJOG| TIMEJOG ]]<br /> * [[MC-Basic:axis.TIMEOFSHORTMOTIONS| TIMEOFSHORTMOTIONS ]]<br /> * [[MC-Basic:element.TIMESETTLE| TIMESETTLE ]]<br /> * [[MC-Basic:element.TIMESETTLEMAX| TIMESETTLEMAX ]]<br /> * [[MC-Basic:axis.TORQUEADDCOMMAND| TORQUEADDCOMMAND ]]<br /> * [[MC-Basic:axis.TORQUECHANGERATIO| TORQUECHANGERATIO ]]<br /> * [[MC-Basic:axis.TORQUECHANGERATIOMAX| TORQUECHANGERATIOMAX ]]<br /> * [[MC-Basic:element.TORQUECOMMAND| TORQUECOMMAND ]]<br /> * [[MC-Basic:axis.TORQUEDRIVECOMMAND| TORQUEDRIVECOMMAND ]]<br /> * [[MC-Basic:axis.TORQUEERROR| TORQUEERROR ]]<br /> * [[MC-Basic:axis.TORQUEERRORDISABLETYPE| TORQUEERRORDISABLETYPE ]]<br /> * [[MC-Basic:axis.TORQUEERRORENABLE| TORQUEERRORENABLE ]]<br /> * [[MC-Basic:axis.TORQUEERRORFILTER| TORQUEERRORFILTER ]]<br /> * [[MC-Basic:axis.TORQUEERRORMAX| TORQUEERRORMAX ]]<br /> * [[MC-Basic:axis.TORQUEERRORSTOPTYPE| TORQUEERRORSTOPTYPE ]]<br /> * [[MC-Basic:axis.TORQUEFACTOR| TORQUEFACTOR ]]<br /> * [[MC-Basic:element.TORQUEFEEDBACK| TORQUEFEEDBACK ]]<br /> * [[MC-Basic:axis.TorqueLimit| TorqueLimit ]]<br /> * [[MC-Basic:axis.TorqueLimitVelocityMax| TorqueLimitVelocityMax ]]<br /> * [[MC-Basic:axis.TorqueMax| TorqueMax ]]<br /> * [[MC-Basic:element.TOTALTIME| TOTALTIME ]]<br /> * [[MC-Basic:axis.UserFollowingMode| UserFollowingMode ]]<br /> * [[MC-Basic:axis.VELOCITYADDITIVECOMMAND| VELOCITYADDITIVECOMMAND ]]<br /> * [[MC-Basic:element.VELOCITYCOMMAND| VELOCITYCOMMAND ]]<br /> * [[MC-Basic:element.VELOCITYCRUISE| VELOCITYCRUISE ]]<br /> * [[MC-Basic:axis.VELOCITYEXTERNAL| VELOCITYEXTERNAL ]]<br /> * [[MC-Basic:axis.VELOCITYEXTERNALFACTOR| VELOCITYEXTERNALFACTOR ]]<br /> * [[MC-Basic:element.VELOCITYFACTOR| VELOCITYFACTOR ]]<br /> * [[MC-Basic:element.VELOCITYFEEDBACK| VELOCITYFEEDBACK ]]<br /> * [[MC-Basic:element.VELOCITYFINAL| VELOCITYFINAL ]]<br /> * [[MC-Basic:axis.VELOCITYJOG| VELOCITYJOG ]]<br /> * [[MC-Basic:axis.VelocityLimitTorqueMax| VelocityLimitTorqueMax ]]<br /> * [[MC-Basic:element.VELOCITYMAX| VELOCITYMAX ]]<br /> * [[MC-Basic:element.VELOCITYOVERRIDE| VELOCITYOVERRIDE ]]<br /> * [[MC-Basic:axis.VELOCITYOVERSPEED| VELOCITYOVERSPEED ]]<br /> * [[MC-Basic:element.VELOCITYRATE| VELOCITYRATE ]]<br /> * [[MC-Basic:axis.VELOCITYSAFETYLIMIT| VELOCITYSAFETYLIMIT ]]<br /> * [[MC-Basic:axis.VISCOUSFRICTION| VISCOUSFRICTION ]]<br /> * [[MC-Basic:axis.WRAP| WRAP ]]<br /> <br /> ==Group Properties==<br /> <br /> * [[MC-Basic:element.ABSENABLE| ABSENABLE ]]<br /> * [[MC-Basic:element.ABSOLUTE| ABSOLUTE ]]<br /> * [[MC-Basic:element.ACCELERATION| ACCELERATION ]]<br /> * [[MC-Basic:element.ACCELERATIONFACTOR| ACCELERATIONFACTOR ]]<br /> * [[MC-Basic:element.ACCELERATIONMAX| ACCELERATIONMAX ]]<br /> * [[MC-Basic:element.ACCELERATIONRATE| ACCELERATIONRATE ]]<br /> * [[MC-Basic:group.ACCELRATIONCOMMAND| ACCELRATIONCOMMAND ]]<br /> * [[MC-Basic:group.ANGLE| ANGLE ]]<br /> * [[MC-Basic:element.ATTACHEDTO| ATTACHEDTO ]]<br /> * [[MC-Basic:element.BLENDINGFACTOR| BLENDINGFACTOR ]]<br /> * [[MC-Basic:element.BLENDINGFACTORPREVIOUS| BLENDINGFACTORPREVIOUS ]]<br /> * [[MC-Basic:element.BLENDINGMETHOD| BLENDINGMETHOD ]]<br /> * [[MC-Basic:element.BLENDINGSTARTCONDITION| BLENDINGSTARTCONDITION ]]<br /> * [[MC-Basic:element.BLENDPROTECTED| BLENDPROTECTED ]]<br /> * [[MC-Basic:group.CIRCLECENTER| CIRCLECENTER ]]<br /> * [[MC-Basic:group.CIRCLEPOINT| CIRCLEPOINT ]]<br /> * [[MC-Basic:group.CIRCLETYPE| CIRCLETYPE ]]<br /> * [[MC-Basic:group.COUPLED| COUPLED ]]<br /> * [[MC-Basic:element.CP| CP ]]<br /> * [[MC-Basic:group.CPLG| CPLG ]]<br /> * [[MC-Basic:element.CPPREV| CPPREV ]]<br /> * [[MC-Basic:element.CURRENTABSOLUTE| CURRENTABSOLUTE ]]<br /> * [[MC-Basic:element.CURRENTTIME| CURRENTTIME ]]<br /> * [[MC-Basic:element.DECELERATION| DECELERATION ]]<br /> * [[MC-Basic:element.DECELERATIONMAX| DECELERATIONMAX ]]<br /> * [[MC-Basic:element.DECELERATIONRATE| DECELERATIONRATE ]]<br /> * [[MC-Basic:group.DECELERATIONSTOP| DECELERATIONSTOP ]]<br /> * [[MC-Basic:element.DEST| DEST ]]<br /> * [[MC-Basic:group.DEST JOINT| DEST JOINT ]]<br /> * [[MC-Basic:group.DESTANGLE| DESTANGLE ]]<br /> * [[MC-Basic:group.DESTCENTER| DESTCENTER ]]<br /> * [[MC-Basic:group.DESTCIRCLEPOINT| DESTCIRCLEPOINT ]]<br /> * [[MC-Basic:group.DOMINANCEMODE| DOMINANCEMODE ]]<br /> * [[MC-Basic:element.DOUBLEMODE| DOUBLEMODE ]]<br /> * [[MC-Basic:element.DYNAMICMODEL| DYNAMICMODEL ]]<br /> * [[MC-Basic:element.ELEMENTID| ELEMENTID ]]<br /> * [[MC-Basic:element.ELEMENTNAME| ELEMENTNAME ]]<br /> * [[MC-Basic:element.ELEMENTSIZE| ELEMENTSIZE ]]<br /> * [[MC-Basic:element.ENABLE| ENABLE ]]<br /> * [[MC-Basic:element.INTERPOLATIONTYPE| INTERPOLATIONTYPE ]]<br /> * [[MC-Basic:element.ISMOVING| ISMOVING ]]<br /> * [[MC-Basic:element.ISSETTLED| ISSETTLED ]]<br /> * [[MC-Basic:element.JERK| JERK ]]<br /> * [[MC-Basic:element.JERKACCELERATIONPERCENTAGE| JERKACCELERATIONPERCENTAGE ]]<br /> * [[MC-Basic:element.JERKDECELERATIONPERCENTAGE| JERKDECELERATIONPERCENTAGE ]]<br /> * [[MC-Basic:element.JERKFACTOR| JERKFACTOR ]]<br /> * [[MC-Basic:element.JERKMAX| JERKMAX ]]<br /> * [[MC-Basic:element.JERKRATE| JERKRATE ]]<br /> * [[MC-Basic:element.MOTION| MOTION ]]<br /> * [[MC-Basic:element.PLSSOURCE| PLSSOURCE ]]<br /> * [[MC-Basic:element.POSITIONCOMMAND| POSITIONCOMMAND ]]<br /> * [[MC-Basic:element.POSITIONCOMMANDHISTORY| POSITIONCOMMANDHISTORY ]]<br /> * [[MC-Basic:element.POSITIONERROR| POSITIONERROR ]]<br /> * [[MC-Basic:element.POSITIONERRORDELAY| POSITIONERRORDELAY ]]<br /> * [[MC-Basic:element.POSITIONERRORMAX| POSITIONERRORMAX ]]<br /> * [[MC-Basic:element.POSITIONERRORSETTLE| POSITIONERRORSETTLE ]]<br /> * [[MC-Basic:element.POSITIONFEEDBACK| POSITIONFEEDBACK ]]<br /> * [[MC-Basic:element.POSITIONFINAL| POSITIONFINAL ]]<br /> * [[MC-Basic:element.POSITIONTOGO| POSITIONTOGO ]]<br /> * [[MC-Basic:element.PROCEEDTYPE| PROCEEDTYPE ]]<br /> * [[MC-Basic:element.PROFILERTYPE| PROFILERTYPE ]]<br /> * [[MC-Basic:element.RESCUEMODE| RESCUEMODE ]]<br /> * [[MC-Basic:group.SELECTAXES| SELECTAXES ]]<br /> * [[MC-Basic:element.SineWaveFreq| SineWaveFreq ]]<br /> * [[MC-Basic:element.SMOOTHFACTOR| SMOOTHFACTOR ]]<br /> * [[MC-Basic:element.STARTTYPE| STARTTYPE ]]<br /> * [[MC-Basic:element.STOPTYPE| STOPTYPE ]]<br /> * [[MC-Basic:robot.STRETCHFACTOR| STRETCHFACTOR ]]<br /> * [[MC-Basic:robot.STRETCHVECTOR| STRETCHVECTOR ]]<br /> * [[MC-Basic:group.THROUGH| THROUGH ]]<br /> * [[MC-Basic:element.TIMEACCELERATION| TIMEACCELERATION ]]<br /> * [[MC-Basic:element.TIMEACCMIN| TIMEACCMIN ]]<br /> * [[MC-Basic:element.TIMEDECELERATION| TIMEDECELERATION ]]<br /> * [[MC-Basic:element.TIMEDECMIN| TIMEDECMIN ]]<br /> * [[MC-Basic:element.TIMESETTLE| TIMESETTLE ]]<br /> * [[MC-Basic:element.TIMESETTLEMAX| TIMESETTLEMAX ]]<br /> * [[MC-Basic:element.TORQUECOMMAND| TORQUECOMMAND ]]<br /> * [[MC-Basic:element.TORQUEFEEDBACK| TORQUEFEEDBACK ]]<br /> * [[MC-Basic:element.TOTALTIME| TOTALTIME ]]<br /> * [[MC-Basic:group.UPTO| UPTO ]]<br /> * [[MC-Basic:element.VELOCITYCOMMAND| VELOCITYCOMMAND ]]<br /> * [[MC-Basic:element.VELOCITYCRUISE| VELOCITYCRUISE ]]<br /> * [[MC-Basic:element.VELOCITYFACTOR| VELOCITYFACTOR ]]<br /> * [[MC-Basic:element.VELOCITYFEEDBACK| VELOCITYFEEDBACK ]]<br /> * [[MC-Basic:element.VELOCITYFINAL| VELOCITYFINAL ]]<br /> * [[MC-Basic:element.VELOCITYMAX| VELOCITYMAX ]]<br /> * [[MC-Basic:element.VELOCITYOVERRIDE| VELOCITYOVERRIDE ]]<br /> * [[MC-Basic:element.VELOCITYRATE| VELOCITYRATE ]]<br /> <br /> ==Robot Properties== <br /> <br /> * [[MC-Basic:robot.ACCELCMDCART| ACCELCMDCART ]]<br /> * [[MC-Basic:robot.ACCELERATIONDESYNCROT| ACCELERATIONDESYNCROT ]]<br /> * [[MC-Basic:robot.ACCELERATIONDESYNCTRAN| ACCELERATIONDESYNCTRAN ]]<br /> * [[MC-Basic:robot.ACCELERATIONMAXROT| ACCELERATIONMAXROT ]]<br /> * [[MC-Basic:robot.ACCELERATIONMAXTRANS| ACCELERATIONMAXTRANS ]]<br /> * [[MC-Basic:robot.ACCELERATIONROT| ACCELERATIONROT ]]<br /> * [[MC-Basic:robot.ACCELERATIONSYNCROT| ACCELERATIONSYNCROT ]]<br /> * [[MC-Basic:robot.ACCELERATIONSYNCTRAN| ACCELERATIONSYNCTRAN ]]<br /> * [[MC-Basic:robot.ACCELERATIONTRANS| ACCELERATIONTRANS ]]<br /> * [[MC-Basic:robot.ARMCMD| ARMCMD ]]<br /> * [[MC-Basic:robot.ARMFBK| ARMFBK ]]<br /> * [[MC-Basic:robot.AXIS| AXIS ]]<br /> * [[MC-Basic:robot.BASE| BASE ]]<br /> * [[MC-Basic:robot.DECELERATIONROT| DECELERATIONROT ]]<br /> * [[MC-Basic:robot.DECELERATIONSTOPROT| DECELERATIONSTOPROT ]]<br /> * [[MC-Basic:robot.DECELERATIONSTOPTRANS| DECELERATIONSTOPTRANS ]]<br /> * [[MC-Basic:robot.DECELERATIONTRANS| DECELERATIONTRANS ]]<br /> * [[MC-Basic:element.DYNAMICPARAMETER| DYNAMICPARAMETER ]]<br /> * [[MC-Basic:robot.ELBOWCMD| ELBOWCMD ]]<br /> * [[MC-Basic:robot.ELBOWFBK| ELBOWFBK ]]<br /> * [[MC-Basic:robot.GOTOLIMIT| GOTOLIMIT ]]<br /> * [[MC-Basic:robot.GLOBALBASE| GLOBALBASE ]]<br /> * [[MC-Basic:robot.GLOBALHERE| GLOBALHERE ]]<br /> * [[MC-Basic:robot.GLOBALSETPOINT| GLOBALSETPOINT ]]<br /> * [[MC-Basic:robot.HERE| HERE ]]<br /> * [[MC-Basic:robot.INERTIAREDUCTION| INERTIAREDUCTION ]]<br /> * [[MC-Basic:robot.INERTIATHRESHOLD| INERTIATHRESHOLD ]]<br /> * [[MC-Basic:robot.ISMOVINGFRAMESYNCHRONIZED| ISMOVINGFRAMESYNCHRONIZED ]]<br /> * [[MC-Basic:robot.JERKDESYNCROT| JERKDESYNCROT ]]<br /> * [[MC-Basic:robot.JERKDESYNCTRAN| JERKDESYNCTRAN ]]<br /> * [[MC-Basic:robot.JERKMAXROT| JERKMAXROT ]]<br /> * [[MC-Basic:robot.JERKMAXTRANS| JERKMAXTRANS ]]<br /> * [[MC-Basic:robot.JERKROT| JERKROT ]]<br /> * [[MC-Basic:robot.JERKSYNCROT| JERKSYNCROT ]]<br /> * [[MC-Basic:robot.JERKSYNCTRAN| JERKSYNCTRAN ]]<br /> * [[MC-Basic:robot.JERKTRANS| JERKTRANS ]]<br /> * [[MC-Basic:robot.JOINTENABLE| JOINTENABLE ]]<br /> * [[MC-Basic:robot.LINK| LINK ]]<br /> * [[MC-Basic:robot.MACHINETABLE| MACHINETABLE ]]<br /> * [[MC-Basic:robot.MASTERFRAME| MASTERFRAME ]]<br /> * [[MC-Basic:robot.MASTERFRAMENAME| MASTERFRAMENAME ]]<br /> * [[MC-Basic:robot.MODELENABLE| MODELENABLE ]]<br /> * [[MC-Basic:robot.NUMBEROFITEMS| NUMBEROFITEMS ]]<br /> * [[MC-Basic:robot.ORIENTATIONCOMPLEMENT| ORIENTATIONCOMPLEMENT ]]<br /> * [[MC-Basic:robot.ORIENTATIONERROR| ORIENTATIONERROR ]]<br /> * [[MC-Basic:robot.ORIENTATIONERRORSETTLE| ORIENTATIONERRORSETTLE ]]<br /> * [[MC-Basic:robot.ORIENTATIONFOLLOWING| ORIENTATIONFOLLOWING ]]<br /> * [[MC-Basic:element.PAYLOADINERTIA| PAYLOADINERTIA ]]<br /> * [[MC-Basic:element.PAYLOADMASS| PAYLOADMASS ]]<br /> * [[MC-Basic:robot.Persistent| Persistent ]]<br /> * [[MC-Basic:element.POSITIONERROR| POSITIONERROR ]]<br /> * [[MC-Basic:robot.RMAX| RMAX ]]<br /> * [[MC-Basic:robot.RMIN| RMIN ]]<br /> * [[MC-Basic:robot.SETPOINT| SETPOINT ]]<br /> * [[MC-Basic:robot.SINGULARITYMARGIN| SINGULARITYMARGIN ]]<br /> * [[MC-Basic:element.SLAVE| SLAVE ]]<br /> * [[MC-Basic:robot.START| START ]]<br /> * [[MC-Basic:robot.START JOINT| START JOINT ]]<br /> * [[MC-Basic:robot.STRETCHFACTOR| STRETCHFACTOR ]]<br /> * [[MC-Basic:robot.STRETCHVECTOR| STRETCHVECTOR ]]<br /> * [[MC-Basic:robot.TOOL| TOOL ]]<br /> * [[MC-Basic:robot.TYPEOF| TYPEOF ]]<br /> * [[MC-Basic:robot.USERPARAMETER| USERPARAMETER ]]<br /> * [[MC-Basic:robot.USERPARAMETERVECTOR| USERPARAMETERVECTOR ]]<br /> * [[MC-Basic:robot.VELOCITYCOMMANDCARTESIAN| VELOCITYCOMMANDCARTESIAN ]]<br /> * [[MC-Basic:robot.VELOCITYDESYNCROT| VELOCITYDESYNCROT ]]<br /> * [[MC-Basic:robot.VELOCITYDESYNCTRAN| VELOCITYDESYNCTRAN ]]<br /> * [[MC-Basic:robot.VELOCITYFEEDBACKCARTESIAN| VELOCITYFEEDBACKCARTESIAN ]]<br /> * [[MC-Basic:robot.VELOCITYFINALROT| VELOCITYFINALROT ]]<br /> * [[MC-Basic:robot.VELOCITYFINALTRANS| VELOCITYFINALTRANS ]]<br /> * [[MC-Basic:robot.VELOCITYMAXROT| VELOCITYMAXROT ]]<br /> * [[MC-Basic:robot.VELOCITYMAXTRANS| VELOCITYMAXTRANS ]]<br /> * [[MC-Basic:robot.VELOCITYROT| VELOCITYROT ]]<br /> * [[MC-Basic:robot.VELOCITYSYNCROT| VELOCITYSYNCROT ]]<br /> * [[MC-Basic:robot.VELOCITYSYNCTRAN| VELOCITYSYNCTRAN ]]<br /> * [[MC-Basic:robot.VELOCITYTRANS| VELOCITYTRANS ]]<br /> * [[MC-Basic:robot.WORKPIECE| WORKPIECE ]]<br /> * [[MC-Basic:robot.WRISTCMD| WRISTCMD ]]<br /> * [[MC-Basic:robot.WRISTFBK| WRISTFBK ]]<br /> * [[MC-Basic:robot.XMAX| XMAX ]]<br /> * [[MC-Basic:robot.XMIN| XMIN ]]<br /> * [[MC-Basic:robot.YMAX| YMAX ]]<br /> * [[MC-Basic:robot.YMIN| YMIN ]]<br /> * [[MC-Basic:robot.ZMAX| ZMAX ]]<br /> * [[MC-Basic:robot.ZMIN| ZMIN ]]<br /> * [[MC-Basic:ROBOTTYPE| ROBOTTYPE ]]<br /> * [[MC-Basic:ROBOTTYPE$| ROBOTTYPE$]]<br /> <br /> ===Advanced Interpolation===<br /> * [[MC-Basic:DOPASS|DOPASS]]<br /> * [[MC-Basic:PASS|PASS]]<br /> * [[MC-Basic:robot.PASSBACKWARD| PASSBACKWARD ]]<br /> * [[MC-Basic:robot.PASSBUFFERLEVEL| PASSBUFFERLEVEL ]]<br /> * [[MC-Basic:robot.PASSINTERPOLATION| PASSINTERPOLATION ]]<br /> * [[MC-Basic:robot.PASSMETHOD| PASSMETHOD ]]<br /> * [[MC-Basic:robot.PASSROTMINGAP| PASSROTMINGAP ]]<br /> * [[MC-Basic:robot.PASSSYMMETRICPATH| PASSSYMMETRICPATH ]]<br /> * [[MC-Basic:element.PASSTHROUGHMAXDEVIATION| PASSTHROUGHMAXDEVIATION ]]<br /> * [[MC-Basic:robot.PASSTRANMINGAP| PASSTRANMINGAP ]]<br /> * [[MC-Basic:robot.PASSUPTO| PASSUPTO ]]<br /> * [[MC-Basic:robot.CURRENTPASS| CURRENTPASS ]]<br /> * [[MC-Basic:robot.PASSBUFFERLEVEL | PASSBUFFERLEVEL]]<br /> * [[MC-Basic:robot.PASSBUFFERMIN| PASSBUFFERMIN]]<br /> * [[MC-Basic:robot.PASSBUFFERMAX | PASSBUFFERMAX]]<br /> * [[MC-Basic:robot.PASSBUFFERSIZE| PASSBUFFERSIZE]]<br /> * [[MC-Basic:robot.PASSBUFFERLOW | PASSBUFFERLOW]]<br /> * [[MC-Basic:robot.STRETCHFACTOR|STRETCHFACTOR]]<br /> * [[MC-Basic:robot.STRETCHVECTOR|STRETCHVECTOR]]<br /> <br /> ==Camming==<br /> <br /> * [[MC-Basic:cam.CYCLE| cam.CYCLE ]]<br /> * [[MC-Basic:cam.INUSE| cam.INUSE ]]<br /> * [[MC-Basic:cam.ISMONOTONIC| cam.ISMONOTONIC ]]<br /> * [[MC-Basic:cam.MASTERDATA| cam.MASTERDATA ]]<br /> * [[MC-Basic:cam.SLAVEDATA| cam.SLAVEDATA]]<br /> * [[MC-Basic:cam.NEXT| cam.NEXT ]]<br /> * [[MC-Basic:cam.NEXT.NAME| cam.NEXT.NAME ]]<br /> * [[MC-Basic:cam.PREVIOUS| cam.PREVIOUS ]]<br /> * [[MC-Basic:cam.PREVIOUS.NAME| cam.PREVIOUS.NAME ]]<br /> * [[MC-Basic:cam.SIZE| cam.SIZE ]]<br /> * [[MC-Basic:cam.CAMID| cam.CAMID ]]<br /> * [[MC-Basic:cam.CAMTYPE| cam.CAMTYPE]]<br /> * [[MC-Basic:cam.POLY| cam.POLY]]<br /> <br /> ==Compensation Tables==<br /> <br /> * [[MC-Basic:CompensationSource.Name| CompensationSource.Name ]]<br /> * [[MC-Basic:COMPSET| COMPSET ]]<br /> * [[MC-Basic:compTable.COMPACTIVE| compTable.COMPACTIVE ]]<br /> * [[MC-Basic:compTable.MAXPOSITION| compTable.MAXPOSITION ]]<br /> * [[MC-Basic:compTable.MINPOSITION| compTable.MINPOSITION ]]<br /> * [[MC-Basic:compTable.MULTIPLIER| compTable.MULTIPLIER ]]<br /> * [[MC-Basic:compTable.SOURCEDATA| compTable.SOURCEDATA ]]<br /> * [[MC-Basic:compTable.TARGETDATA| compTable.TARGETDATA ]]<br /> * [[MC-Basic:compTable.DIRECTION| compTable.DIRECTION ]]<br /> * [[MC-Basic:compTable.CompID | compTable.CompID ]]<br /> <br /> ==Points==<br /> * [[MC-Basic:CASTJOINT| CASTJOINT ]]<br /> * [[MC-Basic:CASTLOCATION| CASTLOCATION ]]<br /> * [[MC-Basic:CASTPOINT| CASTPOINT ]]<br /> <br /> <br /> ==PLS (Programmable Limit Switch)==<br /> <br /> * [[MC-Basic:CREATEPLSDATA| CREATEPLSDATA ]]<br /> * [[MC-Basic:DELETEPLS| DELETEPLS ]]<br /> * [[MC-Basic:WITHPLS| WITHPLS]]<br /> * [[MC-Basic:PLSLIST| PLSLIST]]<br /> &lt;br&gt;<br /> * [[MC-Basic:pls.HWASSISTANCE| pls.HWASSISTANCE]]<br /> * [[MC-Basic:pls.HWIOtime| pls.HWIOtTIME]]<br /> * [[MC-Basic:pls.PLSAXISNAME| pls.PLSAXISNAME]]<br /> * [[MC-Basic:pls.PLSEMENTNAME| pls.PLSEMENTNAME]]<br /> * [[MC-Basic:pls.PLSdelaytime| pls.PLSDELAYTIME]]<br /> * [[MC-Basic:pls.PLSENABLE| pls.PLSENABLE]]<br /> * [[MC-Basic:pls.PLSHYSTERESIS| pls.PLSHYSTERESIS]]<br /> * [[MC-Basic:pls.PLSOUTPUT| pls.PLSOUTPUT]]<br /> * [[MC-Basic:pls.PLSPOLARITY| pls.PLSPOLARITY]]<br /> * [[MC-Basic:pls.PLSPOSITION| pls.PLSPOSITION]]<br /> * [[MC-Basic:pls.PLSPropagationDelay| pls.PLSPROPAGATIONDELAY]]<br /> * [[MC-Basic:pls.PLSPropagationDisableDelay| pls.PLSPROPAGATIONDISABLEDELAY]]<br /> * [[MC-Basic:pls.PLSPropagationEnableDelay| pls.PLSPROPAGATIONENABLEDELAY]]<br /> * [[MC-Basic:pls.PLSRELATEDTO| pls.PLSRELATEDTO]]<br /> * [[MC-Basic:pls.PLSREPEAT| pls.PLSREPEAT]]<br /> <br /> ==Element Properties==<br /> * [[MC-Basic:PlcMotionStatusCreate| PlcMotionStatusCreate ]]<br /> * [[MC-Basic:PlcMotionStatusDestroy| PlcMotionStatusDestroy ]]<br /> * [[MC-Basic:PlcMotionStatusQuery| PlcMotionStatusQuery ]]<br /> * [[MC-Basic:element.PlcMotionStatus| element.PlcMotionStatus ]]<br /> * [[MC-Basic:element.PrecomputationMode| element.PrecomputationMode ]]<br /> * [[MC-Basic:element.RTKActive| element.RTKActive ]]<br /> <br /> <br /> ==Identification and Dynamic Model==<br /> <br /> * [[MC-Basic:IdentificationCancel| IdentificationCancel ]]<br /> * [[MC-Basic:IdentificationFinish| IdentificationFinish ]]<br /> * [[MC-Basic:IdentificationStart| IdentificationStart ]]<br /> * [[MC-Basic:IdentificationStatus| IdentificationStatus ]]<br /> <br /> ==Moving Frame (Conveyor Tracking)==<br /> <br /> * [[MC-Basic:movingFrame.ACCELERATIONMAXROT| ACCELERATIONMAXROT ]]<br /> * [[MC-Basic:movingFrame.ACCELERATIONMAXTRAN| ACCELERATIONMAXTRAN ]]<br /> * [[MC-Basic:movingFrame.BASE| BASE ]]<br /> * [[MC-Basic:movingFrame.DAMPINGFACTOR| DAMPINGFACTOR ]]<br /> * [[MC-Basic:movingFrame.DOWNMASTER| DOWNMASTER ]]<br /> * [[MC-Basic:movingFrame.DOWNSTREAM| DOWNSTREAM ]]<br /> * [[MC-Basic:movingFrame.ELEMENTNAME| ELEMENTNAME ]]<br /> * [[MC-Basic:movingFrame.FILTERFACTOR| FILTERFACTOR ]]<br /> * [[MC-Basic:movingFrame.HERE| HERE ]]<br /> * [[MC-Basic:movingFrame.ISINWINDOW| ISINWINDOW ]]<br /> * [[MC-Basic:movingFrame.JERKMAXROT| JERKMAXROT ]]<br /> * [[MC-Basic:movingFrame.JERKMAXTRAN| JERKMAXTRAN ]]<br /> * [[MC-Basic:movingFrame.MASTERSOURCE| MASTERSOURCE ]]<br /> * [[MC-Basic:movingFrame.MAXFLOPS| MAXFLOPS ]]<br /> * [[MC-Basic:movingFrame.MOVINGFRAMEID| MOVINGFRAMEID ]]<br /> * [[MC-Basic:movingFrame.MOVINGFRAMENAME| MOVINGFRAMENAME ]]<br /> * [[MC-Basic:movingFrame.MOVINGFRAMESCALE| MOVINGFRAMESCALE ]]<br /> * [[MC-Basic:movingFrame.NUMBERDEGREESOFFREADOM| NUMBERDEGREESOFFREADOM ]]<br /> * [[MC-Basic:movingFrame.NUMBEROFITEMS| NUMBEROFITEMS ]]<br /> * [[MC-Basic:movingFrame.OBJECTLOC| OBJECTLOC ]]<br /> * [[MC-Basic:movingFrame.OrientationTransformation| OrientationTransformation ]]<br /> * [[MC-Basic:movingFrame.SLAVEORIENTATION| SLAVEORIENTATION ]]<br /> * [[MC-Basic:movingFrame.TOOL| TOOL ]]<br /> * [[MC-Basic:movingFrame.TranslationTransformation| TranslationTransformation ]]<br /> * [[MC-Basic:movingFrame.TYPE| TYPE ]]<br /> * [[MC-Basic:movingFrame.UPMASTER| UPMASTER ]]<br /> * [[MC-Basic:movingFrame.UPSTREAM| UPSTREAM ]]<br /> * [[MC-Basic:movingFrame.VELOCITYMAXROT| VELOCITYMAXROT ]]<br /> * [[MC-Basic:movingFrame.VELOCITYMAXTRANS| VELOCITYMAXTRANS ]]<br /> * [[MC-Basic:movingFrame.ZERO| ZERO ]]<br /> <br /> ==System Parameters==<br /> * [[MC-Basic:SYSTEM.ACCELERATIONRATE| SYSTEM.ACCELERATIONRATE ]]<br /> * [[MC-Basic:SYSTEM.DECELERATIONRATE| SYSTEM.DECELERATIONRATE ]]<br /> * [[MC-Basic:SYSTEM.ENABLE| SYSTEM.ENABLE ]]<br /> * [[MC-Basic:SYSTEM.JERKRATE| SYSTEM.JERKRATE ]]<br /> * [[MC-Basic:SYSTEM.MOTIONASSISTANCE| SYSTEM.MOTIONASSISTANCE ]]<br /> * [[MC-Basic:SYSTEM.MOTIONMARGIN| SYSTEM.MOTIONMARGIN ]]<br /> * [[MC-Basic:SYSTEM.NUMBERAXES| SYSTEM.NUMBERAXES ]]<br /> * [[MC-Basic:SYSTEM.VELOCITYOVERRIDE| SYSTEM.VELOCITYOVERRIDE ]]<br /> * [[MC-Basic:SYSTEM.VELOCITYRATE| SYSTEM.VELOCITYRATE ]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMSQ_IXX&diff=132967 MC-Basic:element.PAYLOADMASSRMSQ IXX 2018-10-09T08:09:13Z <p>Ron: Ron moved page MC-Basic:element.PAYLOADMASSRMASSSQIXX to MC-Basic:robot.PAYLOADMASSRMASSSQIXX: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMassSqIxx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMG&diff=132965 MC-Basic:element.PAYLOADMASSRMG 2018-10-09T08:08:53Z <p>Ron: Ron moved page MC-Basic:element.PAYLOADMASSRMASSG to MC-Basic:robot.PAYLOADMASSRMASSG: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2/sec^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMG&diff=132964 MC-Basic:element.PAYLOADMASSRMG 2018-10-09T08:08:41Z <p>Ron: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2/sec^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRM&diff=132963 MC-Basic:element.PAYLOADMASSRM 2018-10-09T08:08:22Z <p>Ron: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRM&diff=132961 MC-Basic:element.PAYLOADMASSRM 2018-10-09T08:07:47Z <p>Ron: Ron moved page MC-Basic:element.PAYLOADMASSRMASS to MC-Basic:robot.PAYLOADMASSRMASS: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLZ&diff=132960 MC-Basic:robot.PAYLOADLZ 2018-10-09T08:05:54Z <p>Ron: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadLz = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of a robot in the tool's z direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLZ&diff=132958 MC-Basic:robot.PAYLOADLZ 2018-10-09T08:05:31Z <p>Ron: Ron moved page MC-Basic:element.PAYLOADLZ to MC-Basic:robot.PAYLOADLZ: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadLz = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of an element in the tool's z direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLY&diff=132957 MC-Basic:robot.PAYLOADLY 2018-10-09T08:05:08Z <p>Ron: property for robot, not element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadLy = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of a robot in the tool's y direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLY&diff=132955 MC-Basic:robot.PAYLOADLY 2018-10-09T08:04:30Z <p>Ron: Ron moved page MC-Basic:element.PAYLOADLY to MC-Basic:robot.PAYLOADLY</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadLy = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of an element in the tool's y direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLX&diff=132954 MC-Basic:robot.PAYLOADLX 2018-10-09T08:03:55Z <p>Ron: robot instead of element</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;robot&gt;''.PayloadLx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of a robot in the tool's x direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:robot.PAYLOADLX&diff=132952 MC-Basic:robot.PAYLOADLX 2018-10-09T08:03:04Z <p>Ron: Ron moved page MC-Basic:element.PAYLOADLX to MC-Basic:robot.PAYLOADLX</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadLx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload center of mass (C.M) distance of an element in the tool's x direction.<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> meters<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:IdentificationStart&diff=132917 MC-Basic:IdentificationStart 2018-10-08T09:16:58Z <p>Ron: fix mistake in default value of IdentSampleGap</p> <hr /> <div>{{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> IdentificationStart &lt;''axis''&gt;&lt;nowiki&gt;|&lt;/nowiki&gt;''&lt;robot&gt;''<br /> {IdentDynamicModel = &lt;''value''&gt;}<br /> {IdentPayload = ''ON&lt;nowiki&gt;|&lt;/nowiki&gt;OFF''}<br /> {IdentFilterFreq = &lt;''value''&gt;}<br /> {IdentFileName = &lt;''value''&gt;}<br /> {IdentRelTeMax = &lt;''value''&gt;}<br /> {IdentRecTimeMax = &lt;''value''&gt;}<br /> {IdentDebug = ''ON&lt;nowiki&gt;|&lt;/nowiki&gt;OFF''}<br /> {IdentSampleGap = &lt;''value''&gt;}<br /> <br /> |AVAILABILITY=<br /> Since Version 4.9.7<br /> <br /> |DESCRIPTION=<br /> Starts dynamic parameters identification for an axis or a robot.<br /> <br /> The typical identification procedure basically contains following steps:<br /> # With ''IdentificationStart'' the identification is configured and the internal recording of the feedback signals is started.<br /> # A kinematics-specific excitation motion is issued by the user (typically [[MC-Basic:SineWave|SineWave]] is used).<br /> # With ''[[MC-Basic:IdentificationFinish|IdentificationFinish]]'' the parameters are computed and written to the result file ''IdentFileName''.prg.<br /> <br /> === Parameters ===<br /> ;IdentDynamicModel <br /> : The dynamic model of which the parameters are identified.<br /> : If not given, the current dynamic model of the motion element is used.<br /> : The values 0 or -1 not allowed:<br /> : If Payload is ON, DynamicModel value is ignored.<br /> <br /> ;IdentPayload<br /> : If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters.<br /> <br /> ;IdentFilterFreq<br /> : Cutoff frequency of the raw signal filter. <br /> : 0 = the frequency is automatically detected<br /> : -1 = no filter is used at all<br /> <br /> ;IdentFileName<br /> : File name without extension of the output files (.PRG, .REC)<br /> : If not given, files are called &quot;IDNT&lt;ElementId&gt;&quot;<br /> <br /> ;IdentRelTeMax<br /> : Percentage of the maximal torque error compared to the maximal torque feedback of an axis. If the maximal TE is higher, the identification is considered to be failed.<br /> <br /> ;IdentRecTimeMax<br /> : Maximal recording time after the start of identification. <br /> <br /> ;IdentDebug<br /> : If enabled, a record file is produced on the softMC containing the signals used for identification:<br /> :* Raw torque and position feedbacks (TbfRaw and PfbRaw)<br /> :* Filtered and derived (velocity, acceleration) feedbacks (Tfb, Pfb, Vfb, Afb)<br /> :* Torque command, which is computed using the identified parameters (Tcmd)<br /> <br /> ;IdentSampleGap<br /> : The recording gap between data points in cycle time units. <br /> <br /> |TYPE=<br /> * ''IdentDynamicModel'' : Long<br /> * ''IdentFilterFreq'' : Double<br /> * ''IdentFileName'' : String<br /> * ''IdentRelTeMax'' : Double<br /> * ''IdentRecTimeMax '' : Double<br /> * ''IdentSampleGap'' : Long<br /> <br /> <br /> |RANGE=<br /> * ''IdentDynamicModel'' : 1, 2, 3, .. (only positive numbers, see [[Dynamic Models|available models]])<br /> <br /> |UNITS=<br /> * ''IdentFilterFreq'' : Herz [Hz]<br /> * ''IdentRelTeMax'' : Percent [%]<br /> * ''IdentRecTimeMax'' : Seconds [s]<br /> * ''IdentSampleGap'' : Cycle Time<br /> <br /> |DEFAULT=<br /> * ''IdentDynamicModel'' : element.DynamicModel<br /> * ''IdentPayload'' : OFF<br /> * ''IdentFilterFreq'' : 0 (auto-detect)<br /> * ''IdentFileName'' : &quot;&quot; (auto-assign)<br /> * ''IdentRelTeMax'' : 50%<br /> * ''IdentRecTimeMax'' : 30s<br /> * ''IdentDebug'' : ON<br /> * ''IdentSampleGap'' : 1<br /> <br /> |SCOPE=<br /> Task or Terminal<br /> <br /> |LIMITATIONS=<br /> * Only one motion element can be identified at the same time.<br /> <br /> |EXAMPLE=<br /> &lt;pre&gt;<br /> Move axis axis.Pmax<br /> SineWave axis axis.Pmin<br /> <br /> IdentificationStart axis<br /> <br /> Sleep 10000<br /> <br /> IdentificationFinish<br /> Print IdentificationStatus<br /> <br /> Stop axis<br /> &lt;/pre&gt;<br /> <br /> <br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:IdentificationFinish|IdentificationFinish]]<br /> * [[MC-Basic:IdentificationStatus|IdentificationStatus]]<br /> * [[MC-Basic:IdentificationCancel|IdentificationCancel]]<br /> * [[MC-Basic:SineWave|SineWave]]<br /> * [[Dynamic Models|Dynamic Models]] <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=Dynamic_Models&diff=132900 Dynamic Models 2018-10-08T07:50:07Z <p>Ron: /* Scara Robots */ update SCARA dynamic model</p> <hr /> <div>This page gives an overview over all implemented dynamic models.<br /> <br /> '''General considerations'''<br /> * Friction is handled on axis basis. The parameters for friction are set for each axis separately.<br /> * Torque (Force) is always expressed in '''[Nm]''' ([N])&lt;br&gt;<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Crank-Arm Axis.png|Horizontal crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Crank-Arm Axis.png|Vertical crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |-<br /> |3<br /> |&lt;math&gt;M \cdot g \cdot A&lt;/math&gt;<br /> |Mass (without payload) * Gravity * Distance to center of mass<br /> |-<br /> |4<br /> |&lt;math&gt;g \cdot L&lt;/math&gt;<br /> |Gravity * Distance to Payload<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc - (M \cdot g \cdot A + M_{payload} \cdot g \cdot L) \cdot \sin(pos)&lt;/math&gt;<br /> <br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Axis.png|Horizontal linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Axis.png|Vertical linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |-<br /> |2<br /> |&lt;math&gt;M \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Constant force due to gravity.<br /> |-<br /> |3<br /> |&lt;math&gt;g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Gravity coefficient used to consider payload mass. ('''g = 9.80665''')<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc + M \cdot g \cdot \cos(\alpha) + M_{payload} \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> [[File:Axystems;Motion_Dynamics_-_Vertical_Axis_with_spring.png|Vertical linear axis with a spring|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part. [kg]<br /> |-<br /> |2<br /> |&lt;math&gt;K&lt;/math&gt;<br /> |The stiffness constant of the spring. [kg/s^2]<br /> |-<br /> |3<br /> |&lt;math&gt;K \cdot X_{0}&lt;/math&gt;<br /> |The stiffness constant times the relaxation position of the spring. [kg*m/s^2]<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot (acc + g) + K\cdot (X-X_{0})&lt;/math&gt;<br /> <br /> == Traverse Arm Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Inverse dynamic model for Traverse Arm kinematics - Definitions.png|Traverse Arm robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M_1 + M_2&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:scara.PNG|scara robot|thumb]]<br /> For non-coupled SCARA robots (axis 3 and 4 are not coupled). &lt;br /&gt;<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;L_1^2 \cdot M_2 + I_1&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;J_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;L_1 \cdot A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> === Dynamic Model 2 ===<br /> For coupled SCARA robots (axis 3 and 4 are coupled) and for concentric payloads (concentric with axis 4). &lt;br /&gt;<br /> Note: &lt;math&gt;M_3&lt;/math&gt; includes both the masses of link 3 and link 4&lt;br /&gt;<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |9<br /> |&lt;math&gt;L_1^2 \cdot (M_2+M_3) + I_1 + J_1&lt;/math&gt;<br /> |-<br /> |10<br /> |&lt;math&gt;A_2^2 \cdot M_2 + L_2^2 \cdot M_3 + I_2&lt;/math&gt;<br /> |-<br /> |11<br /> |&lt;math&gt;L_1 \cdot A_2 \cdot M_2 + L_1 \cdot L_2 \cdot M_3&lt;/math&gt;<br /> |-<br /> |12<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |13<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |14<br /> |&lt;math&gt;J_2&lt;/math&gt;<br /> |-<br /> |15<br /> |&lt;math&gt;J_3&lt;/math&gt;<br /> |-<br /> |16<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> The payload parameters are:<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |payloadMass<br /> |The mass of the payload<br /> |-<br /> |2<br /> |payloadInertia<br /> |The Inertia of the payload relative to its center of mass<br /> |} <br /> <br /> === Dynamic Model 3 ===<br /> For coupled SCARA robots (axis 3 and 4 are coupled) and for non-concentric payloads (non-concentric with axis 4). &lt;br /&gt;<br /> The dynamic parameters are the same as model 2. &lt;br /&gt;<br /> <br /> <br /> The payload parameters are:<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |payloadMass<br /> |The mass of the payload<br /> |-<br /> |2<br /> |payloadInertia<br /> |The Inertia of the payload relative to its center of mass<br /> |-<br /> |4<br /> |payloadLx<br /> |The distance to the center of mass from the 4th axis in the x direction<br /> |}<br /> <br /> When using identification with this model, all of the payload parameters can be found. &lt;br /&gt;<br /> <br /> === Dynamic Model 4 ===<br /> Same as Dynamic Model 3. &lt;br /&gt;<br /> This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3. &lt;br /&gt;<br /> <br /> === Dynamic Model 5 ===<br /> Same as Dynamic Model 3. &lt;br /&gt;<br /> This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. &lt;br /&gt;<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Control;Rod forces model for Delta kinematics - Introduction.png|Delta robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;\Theta_{AB}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;g \cdot L_{AB} \cdot M_{AB}&lt;/math&gt;<br /> | kg*m&lt;sup&gt;2&lt;/sup&gt;/sec&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;M_{BC}&lt;/math&gt;<br /> |kg<br /> |-<br /> |4<br /> |&lt;math&gt;\Theta_{BC}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_P&lt;/math&gt;<br /> |kg<br /> |-<br /> |6<br /> |&lt;math&gt;M_T&lt;/math&gt;<br /> |kg<br /> |-<br /> |7<br /> |&lt;math&gt;\Theta_T&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;\Theta_{T\phi}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |9<br /> |&lt;math&gt;L_{TO}&lt;/math&gt;<br /> | m<br /> |-<br /> |10<br /> |&lt;math&gt;L_{TP}&lt;/math&gt;<br /> | m<br /> |-<br /> |11<br /> |&lt;math&gt;D&lt;/math&gt;<br /> |-<br /> |12<br /> |&lt;math&gt;C_r&lt;/math&gt;<br /> |-<br /> |13<br /> |&lt;math&gt;Fr_{max}&lt;/math&gt;<br /> |-<br /> |14<br /> |&lt;math&gt;R_{ext}&lt;/math&gt;<br /> |}<br /> <br /> <br /> <br /> == Puma Robots ==<br /> === Dynamic Model 1 ===<br /> [[File:puma.PNG|Puma robot|thumb]]<br /> <br /> Description:<br /> :* &lt;math&gt; g &lt;/math&gt; - Gravity constant<br /> :* &lt;math&gt; m_{i} &lt;/math&gt; - Mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> :* &lt;math&gt; a_{i} &lt;/math&gt; - length of the common normal between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; d_{i} &lt;/math&gt; - offset along z axis between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; l_{i} &lt;/math&gt; - The distance from the i&lt;sup&gt;th&lt;/sup&gt; joint to the center of mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I_{1} = I_{1,zz}+m_{1}*l_{1,y}^2 +m_{2}*d_{2}^2+(m_{4}+m_{5}+m_{6})*a_{3}^2+m_{2}*l_{2,z}^2+&lt;/math&gt; &lt;br&gt; &lt;math&gt;(m_{3}+m_{4}+m_{5}+m_{6})*(d_{2}+d_{3})^2+I_{2,xx}+I_{3,yy}+2*m_{2}*d_{2}*l_{2,z}+m_{2}*l_{2,y}^2+m_{3}*l_{3,z}^2+2*m_{3}*(d_{2}+d_{3})*l_{3,z}+I_{4,zz}+I_{4,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |2<br /> |&lt;math&gt;I_{2} = I_{2,zz}+m_{2}*(l_{2,x}^2+l_{2,y}^2)+(m_{3}+m_{4}+m_{5}+m_{6}*a_{2}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |3<br /> |&lt;math&gt;I_{3} = -I_{2,xx}+I_{2,yy}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}^2+m_{2}*l_{2,x}^2-m_{2}*l_{2,y}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |4<br /> |&lt;math&gt;I_{4} = m_{2}*l_{2,x}*(d_{2}+l_{2,z})+m_{3}*a_{2}*l_{3,z}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |5<br /> |&lt;math&gt;I_{5} = -m_{3}*a_{2}*l_{3,y}+(m_{4}+m_{5}+m_{6})*a_{2}*d_{4}+m_{4}*a_{2}*l_{4,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |6<br /> |&lt;math&gt;I_{6} = I_{3,zz}+m_{3}*l_{3,y}^2+m_{4}*a_{3}^2+m_{4}*(d_{4}+l_{4,z})^2+I_{4,yy}+m_{5}*a_{3}^2+m_{5}*d_{4}^2+I_{5,zz}+m_{6}*a_{3}^2+m_{6}*d_{4}^2+m_{6}*l_{6,z}^2+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |7<br /> |&lt;math&gt;I_{7} = m_{3}*l_{3,y}^2+I_{3,xx}-I_{3,yy}+m_{4}*l_{4,z}^2+2*m_{4}*d_{4}*l_{4,z}+(m_{4}+m_{5}+m_{6})*(d_{4}^2-a_{3}^2)+I_{4,yy}-I_{4,yy}+I_{5,zz}-I_{5,yy}+m_{6}*l_{6,z}^2-I_{6,zz}+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |8<br /> |&lt;math&gt;I_{8} = -m_{4}*(d_{2}+d_{3})*(d_{4}+l_{4,z})-(m_{3}+m_{6})*(d_{2}+d_{3})*d_{4}+m_{3}*l_{3,y}*l_{3,z}+m_{3}*(d_{2}+d_{3})*l_{3,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |9<br /> |&lt;math&gt;I_{9} = m_{2}*l_{2,y}*(d_{2}+l_{2,z})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |10<br /> |&lt;math&gt;I_{10} = 2*m_{4}*a_{5}*l_{4,z}+2*(m_{4}+m_{5}+m_{6})*a_{3}*d_{4}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |11<br /> |&lt;math&gt;I_{11} = -2*m_{2}*l_{2,x}*l_{2,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |12<br /> |&lt;math&gt;I_{12} = (m_{4}+m_{5}+m_{6})*a_{2}*a_{3}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |13<br /> |&lt;math&gt;I_{13} = (m_{4}+m_{5}+m_{6})*a_{3}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |14<br /> |&lt;math&gt;I_{14} = I_{4,zz}+I_{5,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |15<br /> |&lt;math&gt;I_{15} = m_{6}*d_{4}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |16<br /> |&lt;math&gt;I_{16} = m_{6}*a_{2}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |17<br /> |&lt;math&gt;I_{17} = I_{5,zz}+I_{6,xx}+m_{6}*l_{6,z}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |18<br /> |&lt;math&gt;I_{18} = m_{6}*(d_{2}+d_{3})*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |19<br /> |&lt;math&gt;I_{19} = I_{4,yy}-I_{4,xx}+I_{5,zz}-i_{5,yy}+m_{6}*l_{6,z}^2+I_{6,xx}-I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |20<br /> |&lt;math&gt;I_{20} = I_{5,yy}-I_{5,xx}-m_{6}*l_{6,z}^2+I_{6,zz}-I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |21<br /> |&lt;math&gt;I_{21} = I_{4,xx}-I_{4,yy}+I_{5,xx}-I_{5,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |22<br /> |&lt;math&gt;I_{22} = m_{6}*a_{3}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |23<br /> |&lt;math&gt;I_{23} = I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |}<br /> <br /> === Dynamic Model 2 - Gravity ===<br /> This dynamic model is for cases where the robot moves very slowly.&lt;br /&gt;<br /> In such cases, the accelerations and velocities of the joints of the robot have little effect on the joints torques. The joints torques are mainly affected by gravity and friction. &lt;br /&gt;<br /> This model includes only the gravity and friction part of the PUMA robot dynamic model.&lt;br /&gt;<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;g(m_{2}l_{2}+a_{2}(m_{3}+m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |2<br /> |&lt;math&gt;g(m_{3}l_{3,y}+a_{3}(m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |3<br /> |&lt;math&gt;g(m_{3}l_{3,y}+m_{4}(l_{4}+d_{4}(m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |4<br /> |&lt;math&gt;gl_{56}(m_{5}+m_{6})&lt;/math&gt;<br /> |kg*m^2/s^2<br /> <br /> |}<br /> <br /> == Galileo Spherical Robots (GSR) ==<br /> <br /> === Dynamic Model 1 ===<br /> <br /> [[File:GSR-SETUP.JPG|Galileo robot|thumb]]<br /> <br /> <br /> <br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |m&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass [kg]<br /> |-<br /> |2<br /> |m&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass [kg]<br /> |-<br /> |3<br /> |T&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass center distance from the flange [mm]<br /> |-<br /> |4<br /> |T&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass center distance from the (0,0) [mm]<br /> |-<br /> |5<br /> |I&lt;sub&gt;R&lt;/sub&gt;<br /> |Inertia of the payload around roll [kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=Dynamic_Models&diff=132899 Dynamic Models 2018-10-08T06:20:46Z <p>Ron: /* Dynamic Model 2 - Gravity */ add explanation</p> <hr /> <div>This page gives an overview over all implemented dynamic models.<br /> <br /> '''General considerations'''<br /> * Friction is handled on axis basis. The parameters for friction are set for each axis separately.<br /> * Torque (Force) is always expressed in '''[Nm]''' ([N])&lt;br&gt;<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Crank-Arm Axis.png|Horizontal crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Crank-Arm Axis.png|Vertical crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |-<br /> |3<br /> |&lt;math&gt;M \cdot g \cdot A&lt;/math&gt;<br /> |Mass (without payload) * Gravity * Distance to center of mass<br /> |-<br /> |4<br /> |&lt;math&gt;g \cdot L&lt;/math&gt;<br /> |Gravity * Distance to Payload<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc - (M \cdot g \cdot A + M_{payload} \cdot g \cdot L) \cdot \sin(pos)&lt;/math&gt;<br /> <br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Axis.png|Horizontal linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Axis.png|Vertical linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |-<br /> |2<br /> |&lt;math&gt;M \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Constant force due to gravity.<br /> |-<br /> |3<br /> |&lt;math&gt;g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Gravity coefficient used to consider payload mass. ('''g = 9.80665''')<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc + M \cdot g \cdot \cos(\alpha) + M_{payload} \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> [[File:Axystems;Motion_Dynamics_-_Vertical_Axis_with_spring.png|Vertical linear axis with a spring|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part. [kg]<br /> |-<br /> |2<br /> |&lt;math&gt;K&lt;/math&gt;<br /> |The stiffness constant of the spring. [kg/s^2]<br /> |-<br /> |3<br /> |&lt;math&gt;K \cdot X_{0}&lt;/math&gt;<br /> |The stiffness constant times the relaxation position of the spring. [kg*m/s^2]<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot (acc + g) + K\cdot (X-X_{0})&lt;/math&gt;<br /> <br /> == Traverse Arm Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Inverse dynamic model for Traverse Arm kinematics - Definitions.png|Traverse Arm robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M_1 + M_2&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:scara.PNG|scara robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;L_1^2 \cdot M_2 + I_1&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;J_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;L_1 \cdot A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Control;Rod forces model for Delta kinematics - Introduction.png|Delta robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;\Theta_{AB}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;g \cdot L_{AB} \cdot M_{AB}&lt;/math&gt;<br /> | kg*m&lt;sup&gt;2&lt;/sup&gt;/sec&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;M_{BC}&lt;/math&gt;<br /> |kg<br /> |-<br /> |4<br /> |&lt;math&gt;\Theta_{BC}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_P&lt;/math&gt;<br /> |kg<br /> |-<br /> |6<br /> |&lt;math&gt;M_T&lt;/math&gt;<br /> |kg<br /> |-<br /> |7<br /> |&lt;math&gt;\Theta_T&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;\Theta_{T\phi}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |9<br /> |&lt;math&gt;L_{TO}&lt;/math&gt;<br /> | m<br /> |-<br /> |10<br /> |&lt;math&gt;L_{TP}&lt;/math&gt;<br /> | m<br /> |-<br /> |11<br /> |&lt;math&gt;D&lt;/math&gt;<br /> |-<br /> |12<br /> |&lt;math&gt;C_r&lt;/math&gt;<br /> |-<br /> |13<br /> |&lt;math&gt;Fr_{max}&lt;/math&gt;<br /> |-<br /> |14<br /> |&lt;math&gt;R_{ext}&lt;/math&gt;<br /> |}<br /> <br /> <br /> <br /> == Puma Robots ==<br /> === Dynamic Model 1 ===<br /> [[File:puma.PNG|Puma robot|thumb]]<br /> <br /> Description:<br /> :* &lt;math&gt; g &lt;/math&gt; - Gravity constant<br /> :* &lt;math&gt; m_{i} &lt;/math&gt; - Mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> :* &lt;math&gt; a_{i} &lt;/math&gt; - length of the common normal between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; d_{i} &lt;/math&gt; - offset along z axis between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; l_{i} &lt;/math&gt; - The distance from the i&lt;sup&gt;th&lt;/sup&gt; joint to the center of mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I_{1} = I_{1,zz}+m_{1}*l_{1,y}^2 +m_{2}*d_{2}^2+(m_{4}+m_{5}+m_{6})*a_{3}^2+m_{2}*l_{2,z}^2+&lt;/math&gt; &lt;br&gt; &lt;math&gt;(m_{3}+m_{4}+m_{5}+m_{6})*(d_{2}+d_{3})^2+I_{2,xx}+I_{3,yy}+2*m_{2}*d_{2}*l_{2,z}+m_{2}*l_{2,y}^2+m_{3}*l_{3,z}^2+2*m_{3}*(d_{2}+d_{3})*l_{3,z}+I_{4,zz}+I_{4,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |2<br /> |&lt;math&gt;I_{2} = I_{2,zz}+m_{2}*(l_{2,x}^2+l_{2,y}^2)+(m_{3}+m_{4}+m_{5}+m_{6}*a_{2}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |3<br /> |&lt;math&gt;I_{3} = -I_{2,xx}+I_{2,yy}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}^2+m_{2}*l_{2,x}^2-m_{2}*l_{2,y}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |4<br /> |&lt;math&gt;I_{4} = m_{2}*l_{2,x}*(d_{2}+l_{2,z})+m_{3}*a_{2}*l_{3,z}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |5<br /> |&lt;math&gt;I_{5} = -m_{3}*a_{2}*l_{3,y}+(m_{4}+m_{5}+m_{6})*a_{2}*d_{4}+m_{4}*a_{2}*l_{4,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |6<br /> |&lt;math&gt;I_{6} = I_{3,zz}+m_{3}*l_{3,y}^2+m_{4}*a_{3}^2+m_{4}*(d_{4}+l_{4,z})^2+I_{4,yy}+m_{5}*a_{3}^2+m_{5}*d_{4}^2+I_{5,zz}+m_{6}*a_{3}^2+m_{6}*d_{4}^2+m_{6}*l_{6,z}^2+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |7<br /> |&lt;math&gt;I_{7} = m_{3}*l_{3,y}^2+I_{3,xx}-I_{3,yy}+m_{4}*l_{4,z}^2+2*m_{4}*d_{4}*l_{4,z}+(m_{4}+m_{5}+m_{6})*(d_{4}^2-a_{3}^2)+I_{4,yy}-I_{4,yy}+I_{5,zz}-I_{5,yy}+m_{6}*l_{6,z}^2-I_{6,zz}+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |8<br /> |&lt;math&gt;I_{8} = -m_{4}*(d_{2}+d_{3})*(d_{4}+l_{4,z})-(m_{3}+m_{6})*(d_{2}+d_{3})*d_{4}+m_{3}*l_{3,y}*l_{3,z}+m_{3}*(d_{2}+d_{3})*l_{3,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |9<br /> |&lt;math&gt;I_{9} = m_{2}*l_{2,y}*(d_{2}+l_{2,z})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |10<br /> |&lt;math&gt;I_{10} = 2*m_{4}*a_{5}*l_{4,z}+2*(m_{4}+m_{5}+m_{6})*a_{3}*d_{4}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |11<br /> |&lt;math&gt;I_{11} = -2*m_{2}*l_{2,x}*l_{2,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |12<br /> |&lt;math&gt;I_{12} = (m_{4}+m_{5}+m_{6})*a_{2}*a_{3}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |13<br /> |&lt;math&gt;I_{13} = (m_{4}+m_{5}+m_{6})*a_{3}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |14<br /> |&lt;math&gt;I_{14} = I_{4,zz}+I_{5,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |15<br /> |&lt;math&gt;I_{15} = m_{6}*d_{4}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |16<br /> |&lt;math&gt;I_{16} = m_{6}*a_{2}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |17<br /> |&lt;math&gt;I_{17} = I_{5,zz}+I_{6,xx}+m_{6}*l_{6,z}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |18<br /> |&lt;math&gt;I_{18} = m_{6}*(d_{2}+d_{3})*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |19<br /> |&lt;math&gt;I_{19} = I_{4,yy}-I_{4,xx}+I_{5,zz}-i_{5,yy}+m_{6}*l_{6,z}^2+I_{6,xx}-I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |20<br /> |&lt;math&gt;I_{20} = I_{5,yy}-I_{5,xx}-m_{6}*l_{6,z}^2+I_{6,zz}-I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |21<br /> |&lt;math&gt;I_{21} = I_{4,xx}-I_{4,yy}+I_{5,xx}-I_{5,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |22<br /> |&lt;math&gt;I_{22} = m_{6}*a_{3}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |23<br /> |&lt;math&gt;I_{23} = I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |}<br /> <br /> === Dynamic Model 2 - Gravity ===<br /> This dynamic model is for cases where the robot moves very slowly.&lt;br /&gt;<br /> In such cases, the accelerations and velocities of the joints of the robot have little effect on the joints torques. The joints torques are mainly affected by gravity and friction. &lt;br /&gt;<br /> This model includes only the gravity and friction part of the PUMA robot dynamic model.&lt;br /&gt;<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;g(m_{2}l_{2}+a_{2}(m_{3}+m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |2<br /> |&lt;math&gt;g(m_{3}l_{3,y}+a_{3}(m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |3<br /> |&lt;math&gt;g(m_{3}l_{3,y}+m_{4}(l_{4}+d_{4}(m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |4<br /> |&lt;math&gt;gl_{56}(m_{5}+m_{6})&lt;/math&gt;<br /> |kg*m^2/s^2<br /> <br /> |}<br /> <br /> == Galileo Spherical Robots (GSR) ==<br /> <br /> === Dynamic Model 1 ===<br /> <br /> [[File:GSR-SETUP.JPG|Galileo robot|thumb]]<br /> <br /> <br /> <br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |m&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass [kg]<br /> |-<br /> |2<br /> |m&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass [kg]<br /> |-<br /> |3<br /> |T&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass center distance from the flange [mm]<br /> |-<br /> |4<br /> |T&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass center distance from the (0,0) [mm]<br /> |-<br /> |5<br /> |I&lt;sub&gt;R&lt;/sub&gt;<br /> |Inertia of the payload around roll [kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=File:Axystems;Motion_Dynamics_-_Vertical_Axis_with_spring.png&diff=132839 File:Axystems;Motion Dynamics - Vertical Axis with spring.png 2018-09-04T08:47:20Z <p>Ron: Ron uploaded a new version of &amp;quot;File:Axystems;Motion Dynamics - Vertical Axis with spring.png&amp;quot;</p> <hr /> <div>a drawing of a vertical axis with a spring</div> Ron http://softmc.servotronix.com/index.php?title=File:Axystems;Motion_Dynamics_-_Vertical_Axis_with_spring.png&diff=132838 File:Axystems;Motion Dynamics - Vertical Axis with spring.png 2018-09-04T08:46:41Z <p>Ron: Ron uploaded a new version of &amp;quot;File:Axystems;Motion Dynamics - Vertical Axis with spring.png&amp;quot;</p> <hr /> <div>a drawing of a vertical axis with a spring</div> Ron http://softmc.servotronix.com/index.php?title=Dynamic_Models&diff=132837 Dynamic Models 2018-09-04T08:33:55Z <p>Ron: /* Linear Axes */ add image of vertical liner axis with a spring</p> <hr /> <div>This page gives an overview over all implemented dynamic models.<br /> <br /> '''General considerations'''<br /> * Friction is handled on axis basis. The parameters for friction are set for each axis separately.<br /> * Torque (Force) is always expressed in '''[Nm]''' ([N])&lt;br&gt;<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Crank-Arm Axis.png|Horizontal crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Crank-Arm Axis.png|Vertical crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |-<br /> |3<br /> |&lt;math&gt;M \cdot g \cdot A&lt;/math&gt;<br /> |Mass (without payload) * Gravity * Distance to center of mass<br /> |-<br /> |4<br /> |&lt;math&gt;g \cdot L&lt;/math&gt;<br /> |Gravity * Distance to Payload<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc - (M \cdot g \cdot A + M_{payload} \cdot g \cdot L) \cdot \sin(pos)&lt;/math&gt;<br /> <br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Axis.png|Horizontal linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Axis.png|Vertical linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |-<br /> |2<br /> |&lt;math&gt;M \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Constant force due to gravity.<br /> |-<br /> |3<br /> |&lt;math&gt;g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Gravity coefficient used to consider payload mass. ('''g = 9.80665''')<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc + M \cdot g \cdot \cos(\alpha) + M_{payload} \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> [[File:Axystems;Motion_Dynamics_-_Vertical_Axis_with_spring.png|Vertical linear axis with a spring|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part. [kg]<br /> |-<br /> |2<br /> |&lt;math&gt;K&lt;/math&gt;<br /> |The stiffness constant of the spring. [kg/s^2]<br /> |-<br /> |3<br /> |&lt;math&gt;K \cdot X_{0}&lt;/math&gt;<br /> |The stiffness constant times the relaxation position of the spring. [kg*m/s^2]<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot (acc + g) + K\cdot (X-X_{0})&lt;/math&gt;<br /> <br /> == Traverse Arm Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Inverse dynamic model for Traverse Arm kinematics - Definitions.png|Traverse Arm robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M_1 + M_2&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:scara.PNG|scara robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;L_1^2 \cdot M_2 + I_1&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;J_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;L_1 \cdot A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Control;Rod forces model for Delta kinematics - Introduction.png|Delta robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;\Theta_{AB}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;g \cdot L_{AB} \cdot M_{AB}&lt;/math&gt;<br /> | kg*m&lt;sup&gt;2&lt;/sup&gt;/sec&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;M_{BC}&lt;/math&gt;<br /> |kg<br /> |-<br /> |4<br /> |&lt;math&gt;\Theta_{BC}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_P&lt;/math&gt;<br /> |kg<br /> |-<br /> |6<br /> |&lt;math&gt;M_T&lt;/math&gt;<br /> |kg<br /> |-<br /> |7<br /> |&lt;math&gt;\Theta_T&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;\Theta_{T\phi}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |9<br /> |&lt;math&gt;L_{TO}&lt;/math&gt;<br /> | m<br /> |-<br /> |10<br /> |&lt;math&gt;L_{TP}&lt;/math&gt;<br /> | m<br /> |-<br /> |11<br /> |&lt;math&gt;D&lt;/math&gt;<br /> |-<br /> |12<br /> |&lt;math&gt;C_r&lt;/math&gt;<br /> |-<br /> |13<br /> |&lt;math&gt;Fr_{max}&lt;/math&gt;<br /> |-<br /> |14<br /> |&lt;math&gt;R_{ext}&lt;/math&gt;<br /> |}<br /> <br /> <br /> <br /> == Puma Robots ==<br /> === Dynamic Model 1 ===<br /> [[File:puma.PNG|Puma robot|thumb]]<br /> <br /> Description:<br /> :* &lt;math&gt; g &lt;/math&gt; - Gravity constant<br /> :* &lt;math&gt; m_{i} &lt;/math&gt; - Mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> :* &lt;math&gt; a_{i} &lt;/math&gt; - length of the common normal between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; d_{i} &lt;/math&gt; - offset along z axis between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; l_{i} &lt;/math&gt; - The distance from the i&lt;sup&gt;th&lt;/sup&gt; joint to the center of mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I_{1} = I_{1,zz}+m_{1}*l_{1,y}^2 +m_{2}*d_{2}^2+(m_{4}+m_{5}+m_{6})*a_{3}^2+m_{2}*l_{2,z}^2+&lt;/math&gt; &lt;br&gt; &lt;math&gt;(m_{3}+m_{4}+m_{5}+m_{6})*(d_{2}+d_{3})^2+I_{2,xx}+I_{3,yy}+2*m_{2}*d_{2}*l_{2,z}+m_{2}*l_{2,y}^2+m_{3}*l_{3,z}^2+2*m_{3}*(d_{2}+d_{3})*l_{3,z}+I_{4,zz}+I_{4,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |2<br /> |&lt;math&gt;I_{2} = I_{2,zz}+m_{2}*(l_{2,x}^2+l_{2,y}^2)+(m_{3}+m_{4}+m_{5}+m_{6}*a_{2}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |3<br /> |&lt;math&gt;I_{3} = -I_{2,xx}+I_{2,yy}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}^2+m_{2}*l_{2,x}^2-m_{2}*l_{2,y}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |4<br /> |&lt;math&gt;I_{4} = m_{2}*l_{2,x}*(d_{2}+l_{2,z})+m_{3}*a_{2}*l_{3,z}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |5<br /> |&lt;math&gt;I_{5} = -m_{3}*a_{2}*l_{3,y}+(m_{4}+m_{5}+m_{6})*a_{2}*d_{4}+m_{4}*a_{2}*l_{4,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |6<br /> |&lt;math&gt;I_{6} = I_{3,zz}+m_{3}*l_{3,y}^2+m_{4}*a_{3}^2+m_{4}*(d_{4}+l_{4,z})^2+I_{4,yy}+m_{5}*a_{3}^2+m_{5}*d_{4}^2+I_{5,zz}+m_{6}*a_{3}^2+m_{6}*d_{4}^2+m_{6}*l_{6,z}^2+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |7<br /> |&lt;math&gt;I_{7} = m_{3}*l_{3,y}^2+I_{3,xx}-I_{3,yy}+m_{4}*l_{4,z}^2+2*m_{4}*d_{4}*l_{4,z}+(m_{4}+m_{5}+m_{6})*(d_{4}^2-a_{3}^2)+I_{4,yy}-I_{4,yy}+I_{5,zz}-I_{5,yy}+m_{6}*l_{6,z}^2-I_{6,zz}+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |8<br /> |&lt;math&gt;I_{8} = -m_{4}*(d_{2}+d_{3})*(d_{4}+l_{4,z})-(m_{3}+m_{6})*(d_{2}+d_{3})*d_{4}+m_{3}*l_{3,y}*l_{3,z}+m_{3}*(d_{2}+d_{3})*l_{3,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |9<br /> |&lt;math&gt;I_{9} = m_{2}*l_{2,y}*(d_{2}+l_{2,z})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |10<br /> |&lt;math&gt;I_{10} = 2*m_{4}*a_{5}*l_{4,z}+2*(m_{4}+m_{5}+m_{6})*a_{3}*d_{4}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |11<br /> |&lt;math&gt;I_{11} = -2*m_{2}*l_{2,x}*l_{2,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |12<br /> |&lt;math&gt;I_{12} = (m_{4}+m_{5}+m_{6})*a_{2}*a_{3}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |13<br /> |&lt;math&gt;I_{13} = (m_{4}+m_{5}+m_{6})*a_{3}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |14<br /> |&lt;math&gt;I_{14} = I_{4,zz}+I_{5,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |15<br /> |&lt;math&gt;I_{15} = m_{6}*d_{4}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |16<br /> |&lt;math&gt;I_{16} = m_{6}*a_{2}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |17<br /> |&lt;math&gt;I_{17} = I_{5,zz}+I_{6,xx}+m_{6}*l_{6,z}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |18<br /> |&lt;math&gt;I_{18} = m_{6}*(d_{2}+d_{3})*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |19<br /> |&lt;math&gt;I_{19} = I_{4,yy}-I_{4,xx}+I_{5,zz}-i_{5,yy}+m_{6}*l_{6,z}^2+I_{6,xx}-I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |20<br /> |&lt;math&gt;I_{20} = I_{5,yy}-I_{5,xx}-m_{6}*l_{6,z}^2+I_{6,zz}-I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |21<br /> |&lt;math&gt;I_{21} = I_{4,xx}-I_{4,yy}+I_{5,xx}-I_{5,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |22<br /> |&lt;math&gt;I_{22} = m_{6}*a_{3}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |23<br /> |&lt;math&gt;I_{23} = I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |}<br /> <br /> === Dynamic Model 2 - Gravity ===<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;g(m_{2}l_{2}+a_{2}(m_{3}+m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |2<br /> |&lt;math&gt;g(m_{3}l_{3,y}+a_{3}(m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |3<br /> |&lt;math&gt;g(m_{3}l_{3,y}+m_{4}(l_{4}+d_{4}(m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |4<br /> |&lt;math&gt;gl_{56}(m_{5}+m_{6})&lt;/math&gt;<br /> |kg*m^2/s^2<br /> <br /> |}<br /> <br /> == Galileo Spherical Robots (GSR) ==<br /> <br /> === Dynamic Model 1 ===<br /> <br /> [[File:GSR-SETUP.JPG|Galileo robot|thumb]]<br /> <br /> <br /> <br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |m&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass [kg]<br /> |-<br /> |2<br /> |m&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass [kg]<br /> |-<br /> |3<br /> |T&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass center distance from the flange [mm]<br /> |-<br /> |4<br /> |T&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass center distance from the (0,0) [mm]<br /> |-<br /> |5<br /> |I&lt;sub&gt;R&lt;/sub&gt;<br /> |Inertia of the payload around roll [kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=File:Axystems;Motion_Dynamics_-_Vertical_Axis_with_spring.png&diff=132836 File:Axystems;Motion Dynamics - Vertical Axis with spring.png 2018-09-04T08:32:20Z <p>Ron: a drawing of a vertical axis with a spring -&gt; Creation failed: Unsupported filetype!</p> <hr /> <div>a drawing of a vertical axis with a spring</div> Ron http://softmc.servotronix.com/index.php?title=Dynamic_Models&diff=132835 Dynamic Models 2018-09-04T07:43:06Z <p>Ron: /* Linear Axes */ add vertical liner axis with a spring</p> <hr /> <div>This page gives an overview over all implemented dynamic models.<br /> <br /> '''General considerations'''<br /> * Friction is handled on axis basis. The parameters for friction are set for each axis separately.<br /> * Torque (Force) is always expressed in '''[Nm]''' ([N])&lt;br&gt;<br /> <br /> == Rotational Axes ==<br /> <br /> === Dynamic Model 1 - simple rotary axis ===<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - horizontal crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Crank-Arm Axis.png|Horizontal crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical crank-arm axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Crank-Arm Axis.png|Vertical crank-arm axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I&lt;/math&gt;<br /> |Total moment of inertia around the rotation axis of the moved part<br /> |-<br /> |2<br /> |&lt;math&gt;L^2&lt;/math&gt;<br /> |Square of length of crank arm (axis to payload)<br /> |-<br /> |3<br /> |&lt;math&gt;M \cdot g \cdot A&lt;/math&gt;<br /> |Mass (without payload) * Gravity * Distance to center of mass<br /> |-<br /> |4<br /> |&lt;math&gt;g \cdot L&lt;/math&gt;<br /> |Gravity * Distance to Payload<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (I + I_{payload} + L^2 \cdot M_{payload}) \cdot acc - (M \cdot g \cdot A + M_{payload} \cdot g \cdot L) \cdot \sin(pos)&lt;/math&gt;<br /> <br /> == Linear Axes ==<br /> <br /> === Dynamic Model 1 - horizontal axis ===<br /> [[File:Axystems;Motion Dynamics - Horizontal Axis.png|Horizontal linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 2 - vertical or tilted axis ===<br /> [[File:Axystems;Motion Dynamics - Vertical Axis.png|Vertical linear axis|thumb]]<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part.<br /> |-<br /> |2<br /> |&lt;math&gt;M \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Constant force due to gravity.<br /> |-<br /> |3<br /> |&lt;math&gt;g \cdot \cos(\alpha)&lt;/math&gt;<br /> |Gravity coefficient used to consider payload mass. ('''g = 9.80665''')<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot acc + M \cdot g \cdot \cos(\alpha) + M_{payload} \cdot g \cdot \cos(\alpha)&lt;/math&gt;<br /> <br /> &lt;br style=&quot;clear: both&quot; /&gt;<br /> === Dynamic Model 3 - vertical axis with a spring ===<br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M&lt;/math&gt;<br /> |Total mass of the moved part. [kg]<br /> |-<br /> |2<br /> |&lt;math&gt;K&lt;/math&gt;<br /> |The stiffness constant of the spring. [kg/s^2]<br /> |-<br /> |3<br /> |&lt;math&gt;K \cdot X_{0}&lt;/math&gt;<br /> |The stiffness constant times the relaxation position of the spring. [kg*m/s^2]<br /> |}<br /> ;Model equation<br /> : &lt;math&gt;T = (M + M_{payload}) \cdot (acc + g) + K\cdot (X-X_{0})&lt;/math&gt;<br /> <br /> == Traverse Arm Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Inverse dynamic model for Traverse Arm kinematics - Definitions.png|Traverse Arm robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;M_1 + M_2&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> <br /> == Scara Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:scara.PNG|scara robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;L_1^2 \cdot M_2 + I_1&lt;/math&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;A_2^2 \cdot M_2 + I_2&lt;/math&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;J_2&lt;/math&gt;<br /> |-<br /> |4<br /> |&lt;math&gt;L_1 \cdot A_2 \cdot M_2&lt;/math&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_3&lt;/math&gt;<br /> |-<br /> |6<br /> |&lt;math&gt;g \cdot M_3&lt;/math&gt;<br /> |-<br /> |7<br /> |&lt;math&gt;I_4&lt;/math&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;J_4&lt;/math&gt;<br /> |}<br /> <br /> == Delta Robots ==<br /> <br /> === Dynamic Model 1 ===<br /> [[File:Control;Rod forces model for Delta kinematics - Introduction.png|Delta robot|thumb]]<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;\Theta_{AB}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |2<br /> |&lt;math&gt;g \cdot L_{AB} \cdot M_{AB}&lt;/math&gt;<br /> | kg*m&lt;sup&gt;2&lt;/sup&gt;/sec&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |3<br /> |&lt;math&gt;M_{BC}&lt;/math&gt;<br /> |kg<br /> |-<br /> |4<br /> |&lt;math&gt;\Theta_{BC}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |5<br /> |&lt;math&gt;M_P&lt;/math&gt;<br /> |kg<br /> |-<br /> |6<br /> |&lt;math&gt;M_T&lt;/math&gt;<br /> |kg<br /> |-<br /> |7<br /> |&lt;math&gt;\Theta_T&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |8<br /> |&lt;math&gt;\Theta_{T\phi}&lt;/math&gt;<br /> |kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |-<br /> |9<br /> |&lt;math&gt;L_{TO}&lt;/math&gt;<br /> | m<br /> |-<br /> |10<br /> |&lt;math&gt;L_{TP}&lt;/math&gt;<br /> | m<br /> |-<br /> |11<br /> |&lt;math&gt;D&lt;/math&gt;<br /> |-<br /> |12<br /> |&lt;math&gt;C_r&lt;/math&gt;<br /> |-<br /> |13<br /> |&lt;math&gt;Fr_{max}&lt;/math&gt;<br /> |-<br /> |14<br /> |&lt;math&gt;R_{ext}&lt;/math&gt;<br /> |}<br /> <br /> <br /> <br /> == Puma Robots ==<br /> === Dynamic Model 1 ===<br /> [[File:puma.PNG|Puma robot|thumb]]<br /> <br /> Description:<br /> :* &lt;math&gt; g &lt;/math&gt; - Gravity constant<br /> :* &lt;math&gt; m_{i} &lt;/math&gt; - Mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> :* &lt;math&gt; a_{i} &lt;/math&gt; - length of the common normal between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; d_{i} &lt;/math&gt; - offset along z axis between the i&lt;sup&gt;th&lt;/sup&gt; and i&lt;sup&gt;th+1&lt;/sup&gt; joints <br /> :* &lt;math&gt; l_{i} &lt;/math&gt; - The distance from the i&lt;sup&gt;th&lt;/sup&gt; joint to the center of mass of the i&lt;sup&gt;th&lt;/sup&gt; link<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;I_{1} = I_{1,zz}+m_{1}*l_{1,y}^2 +m_{2}*d_{2}^2+(m_{4}+m_{5}+m_{6})*a_{3}^2+m_{2}*l_{2,z}^2+&lt;/math&gt; &lt;br&gt; &lt;math&gt;(m_{3}+m_{4}+m_{5}+m_{6})*(d_{2}+d_{3})^2+I_{2,xx}+I_{3,yy}+2*m_{2}*d_{2}*l_{2,z}+m_{2}*l_{2,y}^2+m_{3}*l_{3,z}^2+2*m_{3}*(d_{2}+d_{3})*l_{3,z}+I_{4,zz}+I_{4,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |2<br /> |&lt;math&gt;I_{2} = I_{2,zz}+m_{2}*(l_{2,x}^2+l_{2,y}^2)+(m_{3}+m_{4}+m_{5}+m_{6}*a_{2}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |3<br /> |&lt;math&gt;I_{3} = -I_{2,xx}+I_{2,yy}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}^2+m_{2}*l_{2,x}^2-m_{2}*l_{2,y}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |4<br /> |&lt;math&gt;I_{4} = m_{2}*l_{2,x}*(d_{2}+l_{2,z})+m_{3}*a_{2}*l_{3,z}+(m_{3}+m_{4}+m_{5}+m_{6})*a_{2}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |5<br /> |&lt;math&gt;I_{5} = -m_{3}*a_{2}*l_{3,y}+(m_{4}+m_{5}+m_{6})*a_{2}*d_{4}+m_{4}*a_{2}*l_{4,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |6<br /> |&lt;math&gt;I_{6} = I_{3,zz}+m_{3}*l_{3,y}^2+m_{4}*a_{3}^2+m_{4}*(d_{4}+l_{4,z})^2+I_{4,yy}+m_{5}*a_{3}^2+m_{5}*d_{4}^2+I_{5,zz}+m_{6}*a_{3}^2+m_{6}*d_{4}^2+m_{6}*l_{6,z}^2+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |7<br /> |&lt;math&gt;I_{7} = m_{3}*l_{3,y}^2+I_{3,xx}-I_{3,yy}+m_{4}*l_{4,z}^2+2*m_{4}*d_{4}*l_{4,z}+(m_{4}+m_{5}+m_{6})*(d_{4}^2-a_{3}^2)+I_{4,yy}-I_{4,yy}+I_{5,zz}-I_{5,yy}+m_{6}*l_{6,z}^2-I_{6,zz}+I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |8<br /> |&lt;math&gt;I_{8} = -m_{4}*(d_{2}+d_{3})*(d_{4}+l_{4,z})-(m_{3}+m_{6})*(d_{2}+d_{3})*d_{4}+m_{3}*l_{3,y}*l_{3,z}+m_{3}*(d_{2}+d_{3})*l_{3,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |9<br /> |&lt;math&gt;I_{9} = m_{2}*l_{2,y}*(d_{2}+l_{2,z})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |10<br /> |&lt;math&gt;I_{10} = 2*m_{4}*a_{5}*l_{4,z}+2*(m_{4}+m_{5}+m_{6})*a_{3}*d_{4}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |11<br /> |&lt;math&gt;I_{11} = -2*m_{2}*l_{2,x}*l_{2,y}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |12<br /> |&lt;math&gt;I_{12} = (m_{4}+m_{5}+m_{6})*a_{2}*a_{3}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |13<br /> |&lt;math&gt;I_{13} = (m_{4}+m_{5}+m_{6})*a_{3}*(d_{2}+d_{3})&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |14<br /> |&lt;math&gt;I_{14} = I_{4,zz}+I_{5,yy}+I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |15<br /> |&lt;math&gt;I_{15} = m_{6}*d_{4}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |16<br /> |&lt;math&gt;I_{16} = m_{6}*a_{2}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |17<br /> |&lt;math&gt;I_{17} = I_{5,zz}+I_{6,xx}+m_{6}*l_{6,z}^2&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |18<br /> |&lt;math&gt;I_{18} = m_{6}*(d_{2}+d_{3})*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |19<br /> |&lt;math&gt;I_{19} = I_{4,yy}-I_{4,xx}+I_{5,zz}-i_{5,yy}+m_{6}*l_{6,z}^2+I_{6,xx}-I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |20<br /> |&lt;math&gt;I_{20} = I_{5,yy}-I_{5,xx}-m_{6}*l_{6,z}^2+I_{6,zz}-I_{6,xx}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |21<br /> |&lt;math&gt;I_{21} = I_{4,xx}-I_{4,yy}+I_{5,xx}-I_{5,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |22<br /> |&lt;math&gt;I_{22} = m_{6}*a_{3}*l_{6,z}&lt;/math&gt;<br /> |kg*m^2<br /> |-<br /> |23<br /> |&lt;math&gt;I_{23} = I_{6,zz}&lt;/math&gt;<br /> |kg*m^2<br /> |}<br /> <br /> === Dynamic Model 2 - Gravity ===<br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |&lt;math&gt;g(m_{2}l_{2}+a_{2}(m_{3}+m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |2<br /> |&lt;math&gt;g(m_{3}l_{3,y}+a_{3}(m_{4}+m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |3<br /> |&lt;math&gt;g(m_{3}l_{3,y}+m_{4}(l_{4}+d_{4}(m_{5}+m_{6}))&lt;/math&gt;<br /> |kg*m^2/s^2<br /> |-<br /> |4<br /> |&lt;math&gt;gl_{56}(m_{5}+m_{6})&lt;/math&gt;<br /> |kg*m^2/s^2<br /> <br /> |}<br /> <br /> == Galileo Spherical Robots (GSR) ==<br /> <br /> === Dynamic Model 1 ===<br /> <br /> [[File:GSR-SETUP.JPG|Galileo robot|thumb]]<br /> <br /> <br /> <br /> <br /> {|border=&quot;1&quot; width=&quot;80%&quot;<br /> !width=&quot;100&quot;|Number<br /> !width=&quot;250&quot;|Parameter<br /> !Comments<br /> |-<br /> |1<br /> |m&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass [kg]<br /> |-<br /> |2<br /> |m&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass [kg]<br /> |-<br /> |3<br /> |T&lt;sub&gt;P&lt;/sub&gt;<br /> |Payload mass center distance from the flange [mm]<br /> |-<br /> |4<br /> |T&lt;sub&gt;B&lt;/sub&gt;<br /> |Balance mass center distance from the (0,0) [mm]<br /> |-<br /> |5<br /> |I&lt;sub&gt;R&lt;/sub&gt;<br /> |Inertia of the payload around roll [kg*m&lt;sup&gt;2&lt;/sup&gt;<br /> |}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMSQ_IXX&diff=132810 MC-Basic:element.PAYLOADMASSRMSQ IXX 2018-08-28T12:39:24Z <p>Ron: Add property</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMassSqIxx = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRMG&diff=132809 MC-Basic:element.PAYLOADMASSRMG 2018-08-28T12:34:59Z <p>Ron: Add property</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m^2/sec^2<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron http://softmc.servotronix.com/index.php?title=MC-Basic:element.PAYLOADMASSRM&diff=132808 MC-Basic:element.PAYLOADMASSRM 2018-08-28T12:32:00Z <p>Ron: Add property</p> <hr /> <div>{{Languages}}<br /> <br /> {{MC-Basic<br /> |SHORT FORM=<br /> |SYNTAX=<br /> ''&lt;element&gt;''.PayloadMassRMass = &lt;''expression''&gt;<br /> <br /> |AVAILABILITY=<br /> Since Version 4.20<br /> <br /> |DESCRIPTION=<br /> Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz<br /> <br /> This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].<br /> <br /> |TYPE=<br /> Double<br /> <br /> |RANGE=<br /> <br /> |UNITS=<br /> Kg*m<br /> <br /> |DEFAULT=<br /> 0.0<br /> <br /> |SCOPE=<br /> Task and Terminal<br /> <br /> |LIMITATIONS=<br /> * Read/Write<br /> * Modal only<br /> <br /> |EXAMPLE=<br /> |SEE ALSO=<br /> * [[Motion Dynamics]]<br /> * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]<br /> * [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]<br /> <br /> }}<br /> <br /> [[Category:Motion Dynamics]]</div> Ron