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Entry type: Application example Entry ID: 109755899, Entry date: 09/03/2019

SIMATIC S7-1500T Kinematics Computed Torque Control

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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.

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 reduce 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

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

  Documentation V1.1.1 (2,9 MB)
 Registrierung notwendig  Library V1.1.1 for STEP7 V15 (2,4 MB)
 Registrierung notwendig  Library V1.1.1 for STEP7 V15.1 (2,5 MB)
 Registrierung notwendig  Example project for STEP7 V15 (16,5 MB)
 Registrierung notwendig  Example project for STEP 7 V15.1 (10,8 MB)  

Further Information
Handling with SIMATIC 109757198

Additional Keywords
motioncontrol_apc_applications, handling, TO_Kinematics, torque control, S7-1500 T-CPU

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