Difference between revisions of "MC-Basic:IdentificationStart"
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|SYNTAX= | |SYNTAX= | ||
IdentificationStart ''<axis>''<nowiki>|</nowiki>''<robot>'' | IdentificationStart ''<axis>''<nowiki>|</nowiki>''<robot>'' | ||
| − | { | + | {IdentDynamicModel = ''<value>''} |
| − | { | + | {IdentPayload = ''ON<nowiki>|</nowiki>OFF''} |
| − | { | + | {IdentFilterFreq = ''<value>''} |
| − | { | + | {IdentFileName = ''<value>''} |
| − | { | + | {IdentRelTeMax = ''<value>''} |
| − | { | + | {IdentRecTimeMax = ''<value>''} |
| − | { | + | {IdentDebug = ''ON<nowiki>|</nowiki>OFF''} |
|AVAILABILITY= | |AVAILABILITY= | ||
| Line 17: | Line 17: | ||
Starts dynamic parameters identification for an axis or a robot. | Starts dynamic parameters identification for an axis or a robot. | ||
| − | ; | + | ;IdentDynamicModel |
: The dynamic model of which the parameters are identified. | : The dynamic model of which the parameters are identified. | ||
: If not given, the current dynamic model of the motion element is used. | : If not given, the current dynamic model of the motion element is used. | ||
| Line 23: | Line 23: | ||
: If Payload is ON, DynamicModel value is ignored. | : If Payload is ON, DynamicModel value is ignored. | ||
| − | ; | + | ;IdentPayload |
: If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters. | : If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters. | ||
| − | ; | + | ;IdentFilterFreq |
: Cutoff frequency of the raw signal filter. | : Cutoff frequency of the raw signal filter. | ||
: 0 = the frequency is automatically detected | : 0 = the frequency is automatically detected | ||
: -1 = no filter is used at all | : -1 = no filter is used at all | ||
| − | ; | + | ;IdentFileName |
: File name without extension of the output files (.PRG, .REC) | : File name without extension of the output files (.PRG, .REC) | ||
: If not given, files are called "IDNT<ElementId>" | : If not given, files are called "IDNT<ElementId>" | ||
| − | ; | + | ;IdentRelTeMax |
: 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. | ||
| − | ; | + | ;IdentRecTimeMax |
: Maximal recording time after the start of identification. | : Maximal recording time after the start of identification. | ||
| − | ; | + | ;IdentDebug |
: Write the debug record file. | : Write the debug record file. | ||
|TYPE= | |TYPE= | ||
| − | * '' | + | * ''IdentDynamicModel'' : Long |
| − | * '' | + | * ''IdentFilterFreq'' : Double |
| − | * '' | + | * ''IdentFileName'' : String |
| − | * '' | + | * ''IdentRelTeMax'' : Double |
| − | * '' | + | * ''IdentRecTimeMax '' : Double |
|RANGE= | |RANGE= | ||
| − | * '' | + | * ''IdentDynamicModel'' : 1, 2, 3, .. (only positive numbers) |
|UNITS= | |UNITS= | ||
| − | * '' | + | * ''IdentFilterFreq'' : Herz [Hz] |
| − | * '' | + | * ''IdentRelTeMax'' : Percent [%] |
| − | * '' | + | * ''IdentRecTimeMax'' : Seconds [s] |
|DEFAULT= | |DEFAULT= | ||
| − | * '' | + | * ''IdentDynamicModel'' : element.DynamicModel |
| − | * '' | + | * ''IdentPayload'' : OFF |
| − | * '' | + | * ''IdentFilterFreq'' : 0 (auto-detect) |
| − | * '' | + | * ''IdentFileName'' : "" (auto-assign) |
| − | * '' | + | * ''IdentRelTeMax'' : 20% |
| − | * '' | + | * ''IdentRecTimeMax'' : 30s |
| − | * '' | + | * ''IdentDebug'' : ON |
|SCOPE= | |SCOPE= | ||
Revision as of 12:49, 31 January 2012
Starts dynamic parameters identification for an axis or a robot.
- IdentDynamicModel
- 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.
- IdentPayload
- If ON, the payload (payloadmass, payloadinertia) is identified instead of the model parameters.
- IdentFilterFreq
- Cutoff frequency of the raw signal filter.
- 0 = the frequency is automatically detected
- -1 = no filter is used at all
- IdentFileName
- File name without extension of the output files (.PRG, .REC)
- If not given, files are called "IDNT<ElementId>"
- IdentRelTeMax
- 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.
- IdentRecTimeMax
- Maximal recording time after the start of identification.
- IdentDebug
- Write the debug record file.
Syntax
IdentificationStart <axis>|<robot> {IdentDynamicModel = <value>} {IdentPayload = ON|OFF} {IdentFilterFreq = <value>} {IdentFileName = <value>} {IdentRelTeMax = <value>} {IdentRecTimeMax = <value>} {IdentDebug = ON|OFF}
Availability
AMCS FW 4.9.x
Type
- IdentDynamicModel : Long
- IdentFilterFreq : Double
- IdentFileName : String
- IdentRelTeMax : Double
- IdentRecTimeMax : Double
Range
- IdentDynamicModel : 1, 2, 3, .. (only positive numbers)
Units
- IdentFilterFreq : Herz [Hz]
- IdentRelTeMax : Percent [%]
- IdentRecTimeMax : Seconds [s]
Default
- IdentDynamicModel : element.DynamicModel
- IdentPayload : OFF
- IdentFilterFreq : 0 (auto-detect)
- IdentFileName : "" (auto-assign)
- IdentRelTeMax : 20%
- IdentRecTimeMax : 30s
- IdentDebug : 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