Determination of system parameters

There are three sources for determining the parameters required in FB L_MC4P_GroupTorquePreControl :

Axes group parameters

The required friction factors and minimal parameters are read from the parameters of the axes group. Regardless of whether an FB has been created at input itfDynamicPar , the parameter set is evaluated from the axes group.

Mechanical parameters in offset 3, starting from subindex 51 .

Data sheet values

The parameters originating from a data sheet are specified here via the following FBs:

L_MK4P_DynamicParDelta3_3dof

L_MK4P_DynamicParDelta3_4dof

L_MK4P_DynamicParScara_3dof

L_MK4P_DynamicParScara_4dof

Values identified from the L_MC4P_DynamicParIdent application FB

Block L_MC4P_ DynamicParIdent can be used to determine the dynamic parameters of an axes group that are required for a torque feedforward control. This involves assigning an internally calculated identification trajectory (path curve) to the axes group and identifying the parameters during this motion.