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Hallo,

ich wollte schon schreiben "wenn es das gibt, dann habe ich es bisher übersehen", aber eine so unkonstruktive Antwort wollte ich nicht einfach hinschreiben.

Irgendwo in den Konfigurationsdateien haben die aber wohl sicher noch Einstellungen für die Servoregelungen. Vielleicht kannst du den Support in dieser Richtung noch mal befragen.

Grüße

Urmel

Hallo,

dieses Thema ist zwar schon etwas älter, aber vielleicht interessiert es ja noch jemand.

es gibt unter Val3 fogende Befehle:

num setPayload(tool tTool,num nMass, trsf trGravityCenter, num& nInertiaMatrix[])
This function modifies the user payload.
? t Tool is the tool in which the gravity center coordinates are given.
(When an external axis is attached to the flange, it could also indicate which axis is concerned: 6 or 7...)
? nMass is the payload mass in kg.
? trGravityCenter is the position of the gravity center, in tTool coordinates. Only the x, y and z fields are used.
? nInertiaMatrix is the inertia matrix of the payload, at its gravity center, in the tool coordinates (units kg.m²)
Different formats are possible:
? 2-dims 3x3 array,
? 1-dim 9 elements array,
? 1-dim 3 elements array (diagonal matrix),
? 1-dim 1 element array (no inertia).
This functions returns an error code:
0 = change done.
-1 = there is no dynamic model defined for this arm.
-3 = the inertia is already being changed (the process of swapping from one payload to another lasts the boxcar time).
-4 = the input mass is negative.
-5 = the input inertia matrix is dissymmetric.

num getPayload(tool tTool, num& nMass, trsf& trGravityCenter, num& nInertiaMatrix[])
This function gives the user payload.
The parameters are the same than setPayload().
If nInertiaMatrix is a 1D array, it is resized to 9 and filled with Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy and Izz (except if the inertia is symmetrical and the array size is already 3)
If nInertiaMatrix is a 2D array, it is resized to 3x3 and filled naturally with [Ixx Ixy Ixz; Iyx Iyy Iyz; Izx Izy Izz]
Since local arrays cannot be resized, if nInertiaMatrix is a local variable with the wrong size, a runtime error occurs.
The possible return codes are:
0 = no error.
-1 = there is no dynamic model defined for this arm.

Gruß
Chili1886