Physics simulation 1

Note that the configuration menu is only displayed if "MOVIKIT® Robotics" is activated in the "Higher-level MOVIKIT®" section in the "Basic settings" configuration menu and if the "Export to SEW-Workbench", "Collision detection"; or "Precontrol" option is activated in the "Additional functions" section.

For more information on the operating principle, refer to the Online Support of SEW-EURODRIVE in the MOVIKIT® Robotics manual.

Parameter designation

Description

Notes

Inertia and friction

The settings of the inertias and the friction refer to the input end of the gear unit.

Parameter value

If a component is not present or there is no friction, enter the value "0" for the associated parameters.

Motor

Nominal motor torque

Nominal torque of the lower-level motor.

Is taken from drive train 1.

(in Nm)

Index: 8360.48

IEC name: Parameter.MotorData1.RefTorque

Inertia of motor and brake

Inertia of motor and brake.

Is taken from drive train 1.

(in kgm2)

Index: 8360.47

IEC name: –

Scaling

Gear ratio

Gear ratio of the gear unit, of the additional transmission and of "Rotary to linear" (toothed belt, drive wheel, spindle) from drive train 1.

Index: 50043.7 (gear unit), 50043.9 (additional transmission), 50043.11 (Rotary to linear)

IEC name: –

Inertia

Inertia of the gear unit, of the additional transmission and of "'Rotary to linear" (toothed belt, drive wheel, spindle) from drive train 1.

Index: 50043.6 (gear unit), 50043.8 (additional transmission), 50043.10 (Rotary to linear)

IEC name: –

Friction

Reference point of friction (input end)

The friction of the entire drive train is calculated based on the speed acting at the reference point. The reference point is the input of the selected module of the drive train. This reference point has an effect on the gear ratios with which the friction is still calculated.

  • Gear unit
  • Additional transmission
  • Rotary to linear

Index: 50043.17

IEC name: –

Constant friction

Static friction ratio of the entire drive train in relation to the reference point of the friction. The static friction ratio applies regardless of the speed.

(in Nm)

Default value: 0

Index: 50043.12

IEC name: –

Factor of speed-dependent friction

Dynamic friction ratio of the entire drive train in relation to the reference point of the friction. The dynamic friction ratio constitutes the speed-dependent friction components.

(in Nm/(°/s))

Default value: 0

Index: 50043.13

IEC name: –

Smoothing factor of friction curve for direction of rotation reversal

The smoothing factor describes the transition of the entire drive train during a speed reversal. The smoothing factor "0" causes a sharp surge in the frictional torque and thus the motor torque during a change in speed, which does not correspond to actual behavior. To reduce the steepness of these surges, this factor can be used to smooth the friction curve around the zero point of the motor speed.

(in °/s)

Default value: 0

Index: 50043.14

IEC name: –