Starting up torque precontrol

  • The MOVIKIT® Robotics addon PreControl license has been activated.
  • The "Physics simulation" function has been started up for both MOVIKIT® Robotics and the software modules of the lower-level axes (see previous chapters). The "Precontrol" function has been activated in each case.
  • The "Physics simulation" function calculates good values (torque discrepancy < 20%). INFORMATION: If this is not the case, check the friction modeling and the physics simulation configuration again. The setting of the controller can also have an influence on the determined deviation due to the influence on the actual values.
  1. Activate the "Mass moment of inertia via setpoint switching" option in the configuration of the lower-level axis in the "Functions" > "Drive functions" > "FCB 10 interpolated position control" configuration menu.
  • The torque precontrol function has been successfully started up. 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.