L_MK4P_DynamicParScara_3dof
Only for use with axes group Scara_3dof.
(For use with axes group Scara_4dof see L_MK4P_DynamicParScara_4dof .)
The L_MK4P_ DynamicParScara_3dof function block serves
- to set the kinematics-dependent parameters for the torque feedforward control of the Scara_3dof axis group.
- as an input for the L_MC4P_GroupPreControl function block and provides the itfDynamicPar interface.
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to specify the limit values for parameter identification of the function block
L_MC4P_DynamicParIdent
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see model connection in the section
Determination of system parameters
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In contrast to the function block L_MC4P_DynamicParIdent the parameters of the L_MK4P_ DynamicParScara_3dof function block are not identified values, but user-calculate values, e.g. measured values or values from a data sheet.
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L_MK4P_DynamicParScara_3dof |
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ARRAY[1..6] OF LREAL |
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alrCoulombFriction |
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ARRAY[1..6] OF LREAL |
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alrViscoseFriction |
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ARRAY[1..3] OF LREAL |
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alrGravitationVector |
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LREAL |
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lrMass1 |
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LREAL |
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lrInertia1 |
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LREAL |
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lrxDistCenterOfMass1 |
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LREAL |
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lryDistCenterOfMass1 |
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LREAL |
- |
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lrMass2 |
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LREAL |
- |
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lrInertia2 |
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LREAL |
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lrxDistCenterOfMass2 |
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LREAL |
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lryDistCenterOfMass2 |
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LREAL |
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lrMass3 |
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LREAL |
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lrInertia3 |
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LREAL |
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lrxDistCenterOfMass3 |
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LREAL |
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lryDistCenterOfMass3 |
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LREAL |
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lrMassTool |
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LREAL |
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lrInertiaTool |
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L_MK4P_DynamicParScara_3dof |
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ARRAY [1..6] OF LREAL |
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alrCoulombFriction |
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ARRAY [1..6] OF LREAL |
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alrViscoseFriction |
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ARRAY [1..3] OF LREAL |
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alrGravitationVector |
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LREAL |
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lrMass1 |
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LREAL |
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lrInertia1 |
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LREAL |
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lrxDistCenterOfMass1 |
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LREAL |
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lryDistCenterOfMass1 |
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LREAL |
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lrMass2 |
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LREAL |
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lrInertia2 |
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LREAL |
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lrxDistCenterOfMass2 |
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LREAL |
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lryDistCenterOfMass2 |
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LREAL |
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lrMass3 |
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LREAL |
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lrInertia3 |
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LREAL |
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lrxDistCenterOfMass3 |
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LREAL |
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lryDistCenterOfMass3 |
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LREAL |
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lrMassTool |
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LREAL |
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lrInertiaTool |
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Inputs
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Name Data type |
Information/possible settings |
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alrCoulombFriction ARRAY [1..6] OF LREAL |
Coefficients of coulomb friction, gearbox output side [Nm] |
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alrViscoseFriction ARRAY [1..6] OF LREAL |
Coefficients of viscous friction, gearbox output side [Nm/(rad/s)] |
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alrGravitationVector ARRAY [1..3] OF LREAL |
Gravitation vector, defined in MCS [m/s 2 ] Initial values: [0, 0, -9.81] |
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lrMass<1 ... 3> LREAL |
Mass of partial bodies 1 to 3 of the robot [kg]. |
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lrInertia<1 ... 3> LREAL |
Moment of inertia of partial bodies 1 to 3 of the robot with reference to each pivot point [kg cm 2 ]. |
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lrxDistCenterOfMass<1 ... 3> LREAL |
Distance between joint and center of gravity of each partial body in x-direction of the body coordinate system [mm],
see graphic
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lryDistCenterOfMass<1 ... 3> LREAL |
Distance between joint and center of gravity of each partial body in y-direction of the body coordinate system [mm],
see graphic
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lrMassTool LREAL |
Mass of a tool or gripper [kg]. |
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lrInertiaTool LREAL |
Moment of inertia of a tool or gripper with reference to zTCS [kg cm 2 ]. |
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Reference coordinate system for the parameters
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Tip!
Further details can be found in the sections
Torque feedforward control for reducing following errors
Determination of system parameters
(Model connections)
Interconnection example
