L_MC4P_DynamicParIdent: Deactivating the filters of the real axes during the identification run (no modifications intended)
Corrected from: Library: L_MC4P_RoboticHandling (FAST Motion) (no modifications of software intended)
Response of the new version:
No modifications of software intended.
What happens?
The filter functions of the real axes (L_MC1P_AverageFilterSetValues FB) affect the results of the parameter identification.
When does this behaviour occur?
The behaviour occurs when the filter functions of the real axes are active during the identification run.
For identifying the system parameters, the kinematics are stimulated by a motion profile. After that, the system parameters are determined via the "response data" measured by the feedback systems.
The real axis filters would distort the "response" and have a corresponding impact on the results.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/recommendations:
Deactivate the filter functions of the real axes before starting the identification run.
