Cyclic calculation of command torque using dynamic model (P-CHAN-00894)
P-CHAN-00894 | Cyclic calculation of command torque using dynamic model |
Description | This parameter enables the cyclic calculation of the command torque. The command torque is calculated with the dynamic data of the dynamic model in the path using the current positions, velocities and accelerations.
The command torque of the axis can be read using the CNC object “actual torque“ and the HLI data item “torque_act_r“. A possible use of the data item is for external feedforward control. |
Parameter | dyn_model_cyc_torq_calc |
Data type | BOOLEAN |
Data range | 0 / 1 |
Dimension | ---- |
Default value | 0 |
Remarks | Available as of V3.1.3132.0 |