AXY:MC-Basic:group.DYNAMICMODEL

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 parametrized for each axis separately.

During group/robot motions, the group payload (robot.PAYLOADINERTIA and robot.PAYLOADMASS) are used instead of axes payload. Other group dynamic parameters are ignored.

1 ..

See Axystems:Dynamic Models for a list of available robot models.

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

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

See Also

• Axystems:Motion Dynamics
• robot.DYNAMICPARAMETER
• axis.DYNAMICMODEL
• Control:Assist:DYNAMIC_MODEL(Group)