Defining Simulated Motor Behavior

Simulation Server can be configured to simulate ideal or real motor behavior. The motor behavior is simulated by configuring the SimMotor.txt file on an individual motor basis. By default the SimMotor.txt file is located in the Win32 directory.

Note: If SimMotor.txt is not specified in the command line, the default SimMotor.txt is used.

IMPORTANT! The number of motors in the SimMotor.txt file must equal the motor count in the SimNetwork.txt file. Some nodes may support more than one motor. For more information about simulating a network, see Creating a Simulated Network.

Specifying Ideal Motor Response

To specify ideal motor response in the SimMotor.txt file, set the ActualEqCommand parameter equal to 1. This allows the actual motor position to lag the command position by one sample. Note all other tuning parameters are ignored.

Note: You must configure each motor on an individual basis and the number of motors must equal the Motor Count in the SimNetwork.txt file. Add or remove the appropriate number of motors in the SimMotor.txt file and update the MotorCount accordingly.

Once you have finished configuring your SimMotor.txt file, save your file and run the simulator. For more information about running the simulator, see Running Simulation Server.

Specifying Real Motor Response (In development)

To simulate real motor response in the SimMotor.txt file, set the ActualEqCommand parameter equal to 0. Additionally, specify the values for inertia, kinetic friction, static friction, viscosity, and force parameters. For more information, see the following section, SimMotor.txt Parameters.

Note: You must configure each motor on an individual basis and the number of motors must equal the Motor Count in the SimNetwork.txt file. Add or remove the appropriate number of motors in the SimMotor.txt file and update the MotorCount accordingly.

SimMotor.txt Parameters

Use the following SimMotor.txt parameters to define real motor behavior for simulation. These parameters are described in the following table.

SimMotor.txt Parameters	Effective Motor Response Value
inertia	Acceleration feed-forward
kinetic_friction	Friction feed-forward while moving
static_friction	Friction feed-forward while resting
viscosity	Velocity feed-forward
force	Force offset (DAC offset)

Once you have finished configuring your SimMotor.txt file, save your file and run the simulator. For more information about running the simulator, see Running Simulation Server.

 

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