Difference between revisions of "MC-Basic:IdentificationStart"
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Starts dynamic parameters identification for an axis or a robot. | Starts dynamic parameters identification for an axis or a robot. | ||
| + | The typical identification procedure basically contains following steps: | ||
| + | # With ''IdentificationStart'' the identification is configured and the internal recording of the feedback signals is started. | ||
| + | # A kinematics-specific excitation motion is issued by the user (typically [[Axystems:MC-Basic:SineWave|SineWave]] is used). | ||
| + | # With ''[[Axystems:MC-Basic:IdentificationFinish|IdentificationFinish]]'' the parameters are computed and written to the result file ''IdentFileName''.prg. | ||
| + | |||
| + | === Parameters === | ||
;IdentDynamicModel | ;IdentDynamicModel | ||
: The dynamic model of which the parameters are identified. | : The dynamic model of which the parameters are identified. | ||
| Line 42: | Line 48: | ||
;IdentDebug | ;IdentDebug | ||
| − | : | + | : If enabled, a record file is produced on the MC containing the signals used for identification: |
| + | :* Raw torque and position feedbacks (TbfRaw and PfbRaw) | ||
| + | :* Filtered and derived (velocity, acceleration) feedbacks (Tfb, Pfb, Vfb, Afb) | ||
| + | :* Torque command, which is computed using the identified parameters (Tcmd) | ||
|TYPE= | |TYPE= | ||
| Line 53: | Line 62: | ||
|RANGE= | |RANGE= | ||
| − | * ''IdentDynamicModel'' : 1, 2, 3, .. (only positive numbers) | + | * ''IdentDynamicModel'' : 1, 2, 3, .. (only positive numbers, see [[Axystems:Dynamic Models|available models]]) |
|UNITS= | |UNITS= | ||
| Line 74: | Line 83: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
* Only one motion element can be identified at the same time. | * Only one motion element can be identified at the same time. | ||
| − | |||
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 07:51, 15 May 2012
Starts dynamic parameters identification for an axis or a robot.
The typical identification procedure basically contains following steps:
- With IdentificationStart the identification is configured and the internal recording of the feedback signals is started.
- A kinematics-specific excitation motion is issued by the user (typically SineWave is used).
- With IdentificationFinish the parameters are computed and written to the result file IdentFileName.prg.
Parameters
- IdentDynamicModel
- The dynamic model of which the parameters are identified.
- If not given, the current dynamic model of the motion element is used.
- The values 0 or -1 not allowed:
- If Payload is ON, DynamicModel value is ignored.
- IdentPayload
- If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters.
- IdentFilterFreq
- Cutoff frequency of the raw signal filter.
- 0 = the frequency is automatically detected
- -1 = no filter is used at all
- IdentFileName
- File name without extension of the output files (.PRG, .REC)
- If not given, files are called "IDNT<ElementId>"
- IdentRelTeMax
- 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.
- IdentRecTimeMax
- Maximal recording time after the start of identification.
- IdentDebug
- If enabled, a record file is produced on the MC containing the signals used for identification:
- Raw torque and position feedbacks (TbfRaw and PfbRaw)
- Filtered and derived (velocity, acceleration) feedbacks (Tfb, Pfb, Vfb, Afb)
- Torque command, which is computed using the identified parameters (Tcmd)
Syntax
IdentificationStart <axis>|<robot> {IdentDynamicModel = <value>} {IdentPayload = ON|OFF} {IdentFilterFreq = <value>} {IdentFileName = <value>} {IdentRelTeMax = <value>} {IdentRecTimeMax = <value>} {IdentDebug = ON|OFF}
Availability
AMCS FW 4.9.7
Type
- IdentDynamicModel : Long
- IdentFilterFreq : Double
- IdentFileName : String
- IdentRelTeMax : Double
- IdentRecTimeMax : Double
Range
- IdentDynamicModel : 1, 2, 3, .. (only positive numbers, see available models)
Units
- IdentFilterFreq : Herz [Hz]
- IdentRelTeMax : Percent [%]
- IdentRecTimeMax : Seconds [s]
Default
- IdentDynamicModel : element.DynamicModel
- IdentPayload : OFF
- IdentFilterFreq : 0 (auto-detect)
- IdentFileName : "" (auto-assign)
- IdentRelTeMax : 50%
- IdentRecTimeMax : 30s
- IdentDebug : ON
Scope
Task or Terminal
Limitations
- Only one motion element can be identified at the same time.
Examples
Move axis axis.Pmax SineWave axis axis.Pmin IdentificationStart axis Sleep 10000 IdentificationFinish Print IdentificationStatus Stop axis