Putting the physics simulation into operation in MOVIKIT® MultiMotion

Perform the following steps for all lower-level axes in the configuration of the respective MOVIKIT® MultiMotion. The configuration menu is described in more detail in chapter Physics simulation for DT1 (MOVIKIT® MultiMotion additional function).

  • The "physics simulation" has been put into operation in MOVIKIT® Robotics. See Putting the physics simulation into operation in MOVIKIT® Robotics.
  • The "Collision response" has been activated in the "Physics" > "Basic settings" configuration menu of MOVIKIT® Robotics and "Warning" has been set for the collision response. INFORMATION: To ignore individual components of the drive train or the friction in the software, set their parameter to "0". The components are then skipped during initialization. It is then no longer possible to change their configuration values during operation in the IEC Editor (e.g. to determine the appropriate friction values).
  1. Open the configuration for MOVIKIT® MultiMotion.
  2. In the "Module configuration" > "Basic settings" configuration menu, activate "MOVIKIT® Robotics" in the "Higher-level MOVIKIT®" section.
  3. In the "Module configuration" > "Basic settings" configuration menu, activate the "Collision detection" function in the "Additional functions" section.
    • The "Additional functions" > "Physics simulation for DT1" and "Collision detection" configuration menus are displayed.
  4. Open the "Additional functions" > "Physics simulation for DT1" configuration menu.
  5. Configure the inertias and gear ratios of the drive train in the "Scaling" section.
  6. Measure the friction in the system. For realistic measurement, see Systematically measuring friction.
  7. Enter the results of the measurement in the corresponding setting fields in the "Friction" section.
Additional information