Difference between revisions of "AXY:MC-Basic:group.DYNAMICMODEL"
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Revision as of 13:26, 18 October 2011
Dynamic model of a robot.
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.
Syntax
<robot>.DynamicModel = <expression>
Availability
AMCS 4.7.10
Type
Long
Range
- 0 - No dynamic model
Available dynamic models for robots:
| DynamicModel | 1 |
|---|---|
| TraverseArm | torque feed forward |
| Delta | torque feed forward |
Default
0 (No dynamic model)
Scope
Task and Terminal
Limitations
- R/W
- Modal only