MC-Basic:element.DYNAMICMODEL

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Dynamic model of an element:

The dynamic model calculates needed torques/forces 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.

Possible values:

0

No dynamic model. All dynamic computation during element motion for this element are disabled.

-1 (group only)

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 (robot.PAYLOADINERTIA and PAYLOADMASS) is used (instead of axes payloads). Other group dynamic parameters are ignored.

1 ..

See Dynamic Models for a list of available axis models.

Model dependent parameters are expected to be set in MC-Basic:element.DYNAMICPARAMETER.

Syntax

<element>.DynamicModel = <expression>

Availability

Since Version 4.7.14

Type

Long

Range

-1 (group only), 0, 1, ..., 15

Default

0 (No dynamic model)

Scope

Task and Terminal

Limitations

• Read/Write
• Modal only

See Also

• Motion Dynamics
• DYNAMICPARAMETER
• Dynamic Models