TorquePreControl

INFORMATION

The MOVIKIT^® Robotics addon PreControl is required to use the function.

The "TorquePreControl" function enables the expected torque to be calculated and specified as a precontrol value to the controller of the inverter. This reduces the deviations in position, speed and torque caused by the movement, which increases the path accuracy and reduces the excitation for vibrations.

To implement the function, simulated loads from the digital twin of the robot mechanics are transferred to the digital twin of the drive train, which calculates the expected motor torque. This motor torque is sent to the inverter via the process data. The inverter uses the torque as a precontrol value in FCB 10 (interpolated position control) in the torque controller. To measure the effect of the torque precontrol, the lag error of the tool center point and the axes can be analyzed via the User interface. See also chapter LagError.

For more information on startup of the function among other things, refer to chapter Application examples.