MC-Basic:IdentificationStart

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

IdentificationFinish
Print IdentificationStatus

Stop axis

See Also

• Axystems:Motion Dynamics
• IdentificationFinish
• IdentificationStatus
• SineWave