Difference between revisions of "AXY:MC-Basic:group.DYNAMICMODEL"
m (Itay moved page MC-Basic:group.DYNAMICMODEL to AXY:MC-Basic:group.DYNAMICMODEL) |
|||
| (24 intermediate revisions by 4 users not shown) | |||
| Line 1: | Line 1: | ||
| − | {{MC-Basic | + | <!-- {{MC-Basic |
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | '' | + | <''group''>.DynamicModel = <''expression''> |
|AVAILABILITY= | |AVAILABILITY= | ||
| − | + | Since Version 4.7.14 | |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Dynamic model of a | + | Dynamic model of a group. |
The dynamic model calculates needed torques/forces for each joint of a robot during a commanded motion. | The dynamic model calculates needed torques/forces for each joint of a robot during a commanded motion. | ||
The torques are then sent to the drives as "additional torque command" (torque feed forward), which helps to improve the motion performance. | The torques are then sent to the drives as "additional torque command" (torque feed forward), which helps to improve the motion performance. | ||
| + | |||
| + | Possible values: | ||
| + | ;0 | ||
| + | : No dynamic model. All dynamic computation during group motion for this group are disabled. | ||
| + | ;-1 | ||
| + | : Dynamic computations during group motions are based on the dynamic models of its axes. | ||
| + | : In this case dynamic models must be enabled and parametrized for each axis separately. | ||
| + | : During group/robot motions, the group payload ([[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]] and [[MC-Basic:robot.PAYLOADMASS|robot.PAYLOADMASS]]) is used (instead of axes payloads). Other group dynamic parameters are ignored. | ||
| + | ;1 .. | ||
| + | : See [[Dynamic Models]] for a list of available robot models. | ||
| + | : Model dependent parameters are expected to be set in [[MC-Basic:robot.DYNAMICPARAMETER]]. | ||
|TYPE= | |TYPE= | ||
| Line 17: | Line 28: | ||
|RANGE= | |RANGE= | ||
| − | + | -1, 0, 1 .. 15 | |
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
|UNITS= | |UNITS= | ||
| Line 45: | Line 38: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | * | + | * Read/Write |
* Modal only | * Modal only | ||
|EXAMPLE= | |EXAMPLE= | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[Motion Dynamics]] |
| + | * [[MC-Basic:robot.DYNAMICPARAMETER|robot.DYNAMICPARAMETER]] | ||
| + | * [[MC-Basic:axis.DYNAMICMODEL|axis.DYNAMICMODEL]] | ||
| + | * [[Dynamic Models|Dynamic Models]] | ||
}} | }} | ||
| − | [[Category: | + | [[Category:Motion Dynamics]] |
| + | --> | ||