MC-Basic:IdentificationStart
Starts dynamic parameters identification for an axis or a robot.
The typical identification procedure basically contains following steps:
- With IdentificationStart the identification is configured and the internal recording of the feedback signals is started.
- A kinematics-specific excitation motion is issued by the user (typically SineWave is used).
- With IdentificationFinish the parameters are computed and written to the result file IdentFileName.prg.
Parameters
- 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
- If enabled, a record file is produced on the MC containing the signals used for identification:
- Raw torque and position feedbacks (TbfRaw and PfbRaw)
- Filtered and derived (velocity, acceleration) feedbacks (Tfb, Pfb, Vfb, Afb)
- Torque command, which is computed using the identified parameters (Tcmd)
Syntax
IdentificationStart <axis>|<robot> {IdentDynamicModel = <value>} {IdentPayload = ON|OFF} {IdentFilterFreq = <value>} {IdentFileName = <value>} {IdentRelTeMax = <value>} {IdentRecTimeMax = <value>} {IdentDebug = ON|OFF}
Availability
Since Version 4.9.7
Type
- IdentDynamicModel : Long
- IdentFilterFreq : Double
- IdentFileName : String
- IdentRelTeMax : Double
- IdentRecTimeMax : Double
Range
- IdentDynamicModel : 1, 2, 3, .. (only positive numbers, see available models)
Units
- IdentFilterFreq : Herz [Hz]
- IdentRelTeMax : Percent [%]
- IdentRecTimeMax : Seconds [s]
Default
- IdentDynamicModel : element.DynamicModel
- IdentPayload : OFF
- IdentFilterFreq : 0 (auto-detect)
- IdentFileName : "" (auto-assign)
- IdentRelTeMax : 50%
- IdentRecTimeMax : 30s
- IdentDebug : ON
Scope
Task or Terminal
Limitations
- Only one motion element can be identified at the same time.
Examples
Move axis axis.Pmax SineWave axis axis.Pmin IdentificationStart axis Sleep 10000 IdentificationFinish Print IdentificationStatus Stop axis