AXY:MC-Basic:group.DYNAMICMODEL
Dynamic model of a group.
The dynamic model calculates needed torques/forces for each joint of a robot 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 group motion for this group are disabled.
- -1
- 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 robot models.
- Model dependent parameters are expected to be set in MC-Basic:robot.DYNAMICPARAMETER.
Syntax
<group>.DynamicModel = <expression>
Availability
Since Version 4.7.14
Type
Long
Range
-1, 0, 1 .. 15
Default
0 (No dynamic model)
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only