Putting the physics simulation into operation in MOVIKIT® MultiMotion
Perform the following steps for all lower-level axes in MOVIKIT® MultiMotion. The pertinent configuration menu is described in detail in chapter Physics (MOVIKIT® MultiMotion).
- The "physics simulation" function of the MOVIKIT® Robotics has been put into operation. See also Putting the physics simulation into operation in MOVIKIT® Robotics.
- The "Collision response" function has been activated in the Physics configuration menu of MOVIKIT® Robotics and set to "warning".
- Open the configuration for MOVIKIT® MultiMotion.
- In the "Basic settings" configuration menu, activate "MOVIKIT® Robotics" in the "Higher-level MOVIKIT®" section.
- The Physics configuration menu will be displayed for MOVIKIT® MultiMotion.
- Open the "Physics" configuration menu.
- In the "Basic settings" configuration menu, activate the "Activate collision detection" option under "Functions used".
- The "Drive train" and "Collision detection" submenus are displayed.
- Configure the inertia and gear ratios of the drive train in the "Drive train" submenu in the "Motor" and "Scaling" sections.
- Measure the friction in the system. For realistic measurement, see Systematically measuring friction.
- Enter the results of the measurement in the corresponding configuration fields in the "Friction" section.
Additional information
