MC-Basic:element.DYNAMICMODEL/zh-hans

语言:	[[::MC-Basic:element.DYNAMICMODEL|English]]  • [[::MC-Basic:element.DYNAMICMODEL/zh-hans|中文（简体）‎]]

格式

<element>.DynamicModel = <expression>

适用版本

从版本4.7.14起

描述

Dynamic model of an element:

The dynamic model calculates needed torques/forces 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 element motion for this element are disabled.

-1 (group only)

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) is used (instead of axes payloads). Other group dynamic parameters are ignored.

1 ..

See Dynamic Models for a list of available axis models.

Model dependent parameters are expected to be set in AXY:MC-Basic:axis.DYNAMICPARAMETER.

类型

Long

取值范围

-1 (group only), 0, 1, ..., 15

默认

0 (No dynamic model)

使用范围

Task and Terminal

限制

• Read/Write
• Modal only

参考

• Motion Dynamics
• DYNAMICPARAMETER
• Dynamic Models