Difference between revisions of "MC-Basic:element.DYNAMICMODEL"
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| − | {{Languages}} | + | {{Languages|MC-Basic:element.DYNAMICMODEL}} |
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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: Dynamic computations during group motions are based on the dynamic models of its axes. | : 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. | : In this case dynamic models must be enabled and parametrized for each axis separately. | ||
| − | : During group/robot motions, the group payload ([[MC-Basic: | + | : During group/robot motions, the group payload ([[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]] and [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]]) is used (instead of axes payloads). Other group dynamic parameters are ignored. |
;1 .. | ;1 .. | ||
| − | : See [[Dynamic Models]] for a list of available axis models. | + | : See [[Dynamic Models]] for a list of available axis and robot models. |
: Model dependent parameters are expected to be set in [[MC-Basic:element.DYNAMICPARAMETER]]. | : Model dependent parameters are expected to be set in [[MC-Basic:element.DYNAMICPARAMETER]]. | ||
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|RANGE= | |RANGE= | ||
-1 (group only), 0, 1, ..., 15 | -1 (group only), 0, 1, ..., 15 | ||
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|UNITS= | |UNITS= | ||
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* Read/Write | * Read/Write | ||
* Modal only | * Modal only | ||
| + | * In case of a robot group, it must be configured before the value of DynamicModel is set | ||
|EXAMPLE= | |EXAMPLE= | ||
Latest revision as of 12:01, 22 November 2023
| Language: | English • 中文（简体） |
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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 PAYLOADMASS) is used (instead of axes payloads). Other group dynamic parameters are ignored.
- 1 ..
- See Dynamic Models for a list of available axis and robot models.
- Model dependent parameters are expected to be set in MC-Basic:element.DYNAMICPARAMETER.
Syntax
<element>.DynamicModel = <expression>
Availability
Since Version 4.7.14
Type
Long
Range
-1 (group only), 0, 1, ..., 15
Default
0 (No dynamic model)
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only
- In case of a robot group, it must be configured before the value of DynamicModel is set