Putting the physics simulation into operation in the software module of the lower-level axis

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

  • The "physics simulation" has been started up in MOVIKIT® Robotics. See Putting the physics simulation into operation in MOVIKIT® Robotics.
  • If you are using collision detection: 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.
  • To ignore individual components of the drive train or the friction in the software, their parameters have been set 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 of the software module of the lower-level axis.
  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" or "Precontrol" function in the "Additional functions" section.

    4. INFORMATION

    If you are using the "Precontrol" function, temporarily deactivate the torque precontrol in FCB 10 for safety reasons to prevent uncontrolled movements in the event of incorrect modeling. To do this, deactivate the "Mass moment of inertia via setpoint switching" option under "Functions" > "Drive functions" > "FCB 10 interpolated position control". The setpoint is then still sent by the control, but is not processed by the inverter.
  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