Difference between revisions of "MC-Basic:IdentificationStart"
m (draft) |
m (draft) |
||
| Line 8: | Line 8: | ||
{FileName = ''<value>''} | {FileName = ''<value>''} | ||
{RelTeMax = ''<value>''} | {RelTeMax = ''<value>''} | ||
| + | {RecTimeMax = ''<value>''} | ||
{Debug = ''ON<nowiki>|</nowiki>OFF''} | {Debug = ''ON<nowiki>|</nowiki>OFF''} | ||
| Line 36: | Line 37: | ||
;RelTeMax | ;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. | : 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. | ||
| + | |||
| + | ;RecTimeMax | ||
| + | : Maximal recording time after the start of identification. | ||
;Debug | ;Debug | ||
| Line 45: | Line 49: | ||
* ''FileName'' : String | * ''FileName'' : String | ||
* ''RelTeMax'' : Double | * ''RelTeMax'' : Double | ||
| + | * ''RecTimeMax '' : Double | ||
| + | |||
|RANGE= | |RANGE= | ||
| Line 52: | Line 58: | ||
* ''FilterFreq'' : Herz [Hz] | * ''FilterFreq'' : Herz [Hz] | ||
* ''RelTeMax'' : Percent [%] | * ''RelTeMax'' : Percent [%] | ||
| + | * ''RecTimeMax'' : Seconds [s] | ||
|DEFAULT= | |DEFAULT= | ||
| Line 59: | Line 66: | ||
* ''FileName'' : "" (auto-assign) | * ''FileName'' : "" (auto-assign) | ||
* ''RelTeMax'' : 20% | * ''RelTeMax'' : 20% | ||
| + | * ''RecTimeMax'' : 30s | ||
* ''Debug'' : ON | * ''Debug'' : ON | ||
Revision as of 12:34, 31 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.
- RecTimeMax
- Maximal recording time after the start of identification.
- Debug
- Write the debug record file.
Syntax
IdentificationStart <axis>|<robot> {DynamicModel = <value>} {Payload = ON|OFF} {FilterFreq = <value>} {FileName = <value>} {RelTeMax = <value>} {RecTimeMax = <value>} {Debug = ON|OFF}
Availability
AMCS FW 4.9.x
Type
- DynamicModel : Long
- FilterFreq : Double
- FileName : String
- RelTeMax : Double
- RecTimeMax : Double
Range
- DynamicModel : 1, 2, 3, .. (only positive numbers)
Units
- FilterFreq : Herz [Hz]
- RelTeMax : Percent [%]
- RecTimeMax : Seconds [s]
Default
- DynamicModel : element.DynamicModel
- Payload : OFF
- FilterFreq : 0 (auto-detect)
- FileName : "" (auto-assign)
- RelTeMax : 20%
- RecTimeMax : 30s
- 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