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grig100 · Member 3 Joined: 01 Jan 2015 Posts: 752

SIMOTION Computed Torque Control

https://support.industry.siemens.com/cs/document/109747826/simotion-computed-torque-control
The SIMOTION standard library LCTC (Library Computed Torque Control) enables the torque calculation for different robot types

SIMOTION Computed Torque Control SIMOTION Computed Torque Control

The function blocks of the library LCTC (Library Computed Torque Control) enable the torque calculation of the following robot kinematics:
Delta2
Delta3
Tripod
The dynamic models include parameters for mechanical specification (e.g.: dimension, mass, friction) and therefore, offer individual adaption to specific kinematics. Additionally, the library contains function blocks to automatically identify this mechanical specification comfortable.
Pre controlling torques offers the following advantages:
Increase precision of motion
Preserve mechanics of high wear by applying softer control parameters
Reduction of torque peaks
The subsequent library is independent of other libraries and is applicable for SIMOTION V4.5 and above.

Downloads
https://support.industry.siemens.com/cs/attachments/109747826/109747826_LCTC_Doc_v3_0_0_en.pdf
https://support.industry.siemens.com/cs/attachments/109747826/109747826_LCTC_Lib_v3_0_0.zip
https://support.industry.siemens.com/cs/attachments/109747826/109747826_LCTC_Prj_v3_0_0.zip
https://support.industry.siemens.com/cs/attachments/109747826/109747826_LCTC_Changelog_v3_0_0_en.pdf

Handling with SIMOTION
https://support.industry.siemens.com/cs/document/84980638/handling-with-simotion