Difference between revisions of "MC-Basic:IdentificationStart"
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|DESCRIPTION= | |DESCRIPTION= | ||
| + | Starts dynamic parameters identification for an axis or a robot. | ||
| + | |||
| + | ;DynamicModel | ||
| + | : 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. | ||
| + | |||
| + | ;Payload | ||
| + | : If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters. | ||
| + | |||
| + | ;FilterFreq | ||
| + | : Cutoff frequency of the raw signal filter. | ||
| + | : 0 = the frequency is automatically detected | ||
| + | : -1 = no filter is used at all | ||
| + | |||
| + | ;FileName | ||
| + | : File name without extension of the output files (.PRG, .REC) | ||
| + | : If not given, files are called "IDNT<ElementId>" | ||
| + | |||
| + | ;RelTeMax | ||
| + | : 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. | ||
| + | |||
| + | ;Debug | ||
| + | : Write the debug record file. | ||
|TYPE= | |TYPE= | ||
| Line 22: | Line 47: | ||
|RANGE= | |RANGE= | ||
| + | * ''DynamicModel'' : 1, 2, 3, .. (only positive numbers) | ||
|UNITS= | |UNITS= | ||
| Line 28: | Line 54: | ||
|DEFAULT= | |DEFAULT= | ||
| − | * ''DynamicModel'' : | + | * ''DynamicModel'' : element.DynamicModel |
* ''Payload'' : OFF | * ''Payload'' : OFF | ||
* ''FilterFreq'' : 0 (auto-detect) | * ''FilterFreq'' : 0 (auto-detect) | ||
| Line 39: | Line 65: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| + | * Only one motion element can be identified at the same time. | ||
| + | * Cannot be started while there is another [[Axystems:MC-Basic:RECORD|record]] task running. | ||
|EXAMPLE= | |EXAMPLE= | ||
<pre> | <pre> | ||
| + | Move axis axis.Pmax | ||
| + | SineWave axis axis.Pmin | ||
| + | |||
| + | IdentificationStart axis | ||
| + | |||
| + | Sleep 10000 | ||
| + | |||
| + | Print IdentificationFinish | ||
| + | Stop axis | ||
</pre> | </pre> | ||
Revision as of 09:45, 18 January 2012
Starts dynamic parameters identification for an axis or a robot.
- DynamicModel
- 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.
- Payload
- If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters.
- FilterFreq
- Cutoff frequency of the raw signal filter.
- 0 = the frequency is automatically detected
- -1 = no filter is used at all
- FileName
- File name without extension of the output files (.PRG, .REC)
- If not given, files are called "IDNT<ElementId>"
- RelTeMax
- 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.
- Debug
- Write the debug record file.
Syntax
IdentificationStart <axis>|<robot> {DynamicModel = <value>} {Payload = ON|OFF} {FilterFreq = <value>} {FileName = <value>} {RelTeMax = <value>} {Debug = ON|OFF}
Availability
AMCS FW 4.9.x
Type
- DynamicModel : Long
- FilterFreq : Double
- FileName : String
- RelTeMax : Double
Range
- DynamicModel : 1, 2, 3, .. (only positive numbers)
Units
- FilterFreq : Herz [Hz]
- RelTeMax : Percent [%]
Default
- DynamicModel : element.DynamicModel
- Payload : OFF
- FilterFreq : 0 (auto-detect)
- FileName : "" (auto-assign)
- RelTeMax : 20%
- Debug : ON
Scope
Task or Terminal
Limitations
- Only one motion element can be identified at the same time.
- Cannot be started while there is another record task running.
Examples
Move axis axis.Pmax SineWave axis axis.Pmin IdentificationStart axis Sleep 10000 Print IdentificationFinish Stop axis