Difference between revisions of "AXY:MC-Basic:group.DYNAMICMODEL"
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|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''< | + | ''<group>''.DynamicModel = ''<expression>'' |
|AVAILABILITY= | |AVAILABILITY= | ||
| − | AMCS 4.7. | + | AMCS 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 parameterized for each axis separately. Group dynamic parameters are ignored. | ||
| + | ;1 .. | ||
| + | : See [[Axystems:Dynamic Models]] for a list of available robot models. | ||
|TYPE= | |TYPE= | ||
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|RANGE= | |RANGE= | ||
| − | + | -1, 0, 1 .. 15 | |
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|UNITS= | |UNITS= | ||
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|EXAMPLE= | |EXAMPLE= | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[Axystems:Motion Dynamics]] | ||
| + | * [[Axystems:MC-Basic:axis.DYNAMICMODEL]] | ||
* [[Control:Assist:DYNAMIC_MODEL(Group)]] | * [[Control:Assist:DYNAMIC_MODEL(Group)]] | ||
}} | }} | ||
| − | [[Category: | + | [[Category:Axystems:Motion Dynamics]] |
Revision as of 13:57, 18 October 2011
Dynamic model of a group.
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.
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 parameterized for each axis separately. Group dynamic parameters are ignored.
- 1 ..
- See Axystems:Dynamic Models for a list of available robot models.
Syntax
<group>.DynamicModel = <expression>
Availability
AMCS 4.7.14
Type
Long
Range
-1, 0, 1 .. 15
Default
0 (No dynamic model)
Scope
Task and Terminal
Limitations
- R/W
- Modal only