Duration of high-rate data streaming (in milliseconds) that runs in parallel with the chirp excitation. This streaming window is used to collect high-resolution measurement data required for plant model computation.
Optional modesModes of operation to set before starting the chirp signal procedure. If not provided, the current modes of operation will be used.
Sets the value of 0x6060: Modes of operation before starting the procedure.
The effective symmetric position excursion limit (±value), expressed in position units. This defines the maximum allowable deviation from the reference position during chirp excitation. As the position error approaches this limit, the adaptive algorithm reduces the position-loop Kp to keep the joint within the bounded range.
The minimum admissible excursion limit used as a lower bound in internal scaling calculations. This value prevents division by very small ranges and stabilizes gain computation during the identification sequence.
Type of chirp signal to be used.
This is parameter number 4 in the system identification OS command.
Start frequency of the chirp signal, in millihertz (mHz).
This is parameter number 0 in the system identification OS command.
When to start the chirp signal procedure.
This is parameter number 5 in the system identification OS command.
Target amplitude of the chirp signal, expressed in permils (‰) of the rated torque.
This is parameter number 2 in the system identification OS command.
Target frequency of the chirp signal, in millihertz (mHz).
This is parameter number 1 in the system identification OS command.
Duration of the frequency sweep, in milliseconds (ms), representing the transition time from start to target frequency.
This is parameter number 3 in the system identification OS command.
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Options for executing the Limited Range System Identification procedure.
Extends ChirpSignalOptions with additional parameters that bound the allowed position excursion during the chirp excitation. These limits ensure the joint remains within a safe ±position window while the controller dynamically adjusts the position-loop gain.