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valz · Member 3 Joined: 26 Jul 2015 Posts: 771

SIMATIC S7-1500T Kinematics Computed Torque Control
https://support.industry.siemens.com/cs/document/109755899/
The Library Kinematics Computed Torque Control (LKinCTC) provides functionalities to calculate torques for different handling kinematics. These calculated torques can then be used for pre control in the drive, to enable more precise and faster movement of the kinematics with smoother control parameters.

SIMATIC S7-1500T Kinematics Computed Torque Control SIMATIC S7-1500T Kinematics Computed Torque Control

SIMATIC S7-1500T Kinematics Computed Torque Control SIMATIC S7-1500T Kinematics Computed Torque Control

The library LKinCTC enables the user to easily realize a torque pre control for different types of kinematics in the drive. After configuration of the provided functions, the function block can be called cyclically to calculate the necessary motor torques. Within the same cycle, the calculated torques can be transferred to the drive and be used for pre controlling.

This type of pre controlling enables to limitează the following error while using smoother control parameters. Therefore a more precise and faster kinematics motion that also preserves of mechanical wearing is possible.

Following benefits are provided with this library:
Higher precisition due to reduced following error
Higher performance due to smaller positioning windows necessary
Calculating torque curves in advance with virtual axes
Automatic parametrization
The function blocks of the library LKinCTC enable the torque calculation for the following robot kinematics:

Delta2
Delta3
SCARA
The application can run on 1515T CPU types and higher with FW2.5.

Downloads
https://support.industry.siemens.com/cs/attachments/109755899/109755899_LKinCTC_Doc_V_1_1_3_en.pdf
https://support.industry.siemens.com/cs/attachments/109755899/109755899_LKinCTC_Lib_V_1_1_3_V16.zip
https://support.industry.siemens.com/cs/attachments/109755899/109755899_LKinCTC_Lib_V_1_1_3_V17.zip
https://support.industry.siemens.com/cs/attachments/109755899/109755899_LKinCTC_Prj_V_1_1_3_V16.zip
https://support.industry.siemens.com/cs/attachments/109755899/109755899_LKinCTC_Prj_V_1_1_3_V17.zip

https://ulozto.net/tamhle/UApkhd2es0Yw/

https://anonfiles.com/R8N648Afx6/109755899_LKinCTC_Lib_V_1_1_3_V17_zip
https://anonfiles.com/n7P543A2xa/109755899_LKinCTC_Lib_V_1_1_3_V16_zip
https://anonfiles.com/taP849Adx8/109755899_LKinCTC_Doc_V_1_1_3_en_pdf
https://anonfiles.com/70Uc4dAdxd/109755899_LKinCTC_Prj_V_1_1_3_V17_zip
https://anonfiles.com/x2Y449Afx3/109755899_LKinCTC_Prj_V_1_1_3_V16_zip