¶ Overview
Can prevent a robot joint from moving
The occurrence of the thermal model limit may result from hardware malfunctions or misconfigured motor driver.
See also: Fatigue
The Thermal Model is a crucial component embedded in our robotic systems, specifically designed to protect the motors from overheating. This sophisticated capability estimate temperature of the motors, enhancing overall efficiency, safety, and system longevity. The feature utilizes a mathematical model based on configurable parameters and provides real-time feedback on the current estimated temperature. Key parameters, such as Ambient Temperature, Thermal Coefficient, Dissipation Coefficient, Limit Threshold, and Hysteresis, are configured to tailor the thermal management for protecting motors during operations.
¶ Configurable Parameters
¶ 1. Ambient Temperature
The Ambient Temperature parameter represents the baseline temperature in the environment where the robotic system operates. In the absence of a dedicated temperature sensor, this parameter is typically set to a default value, such as 24 degrees Celsius.
¶ 2. Thermal Coefficient
The Thermal Coefficient parameter is a configurable value that influences how the temperature of critical motor components responds to the Total Current flowing through them. It plays a crucial role in the thermal model equation.
¶ 3. Dissipation Coefficient
The Dissipation Coefficient parameter determines how quickly the system dissipates heat from the motor components. It is a key factor in calculating the temperature changes in the thermal model equation.
¶ 4. Limit Threshold
The Limit Threshold parameter sets the upper limit for the temperature. If the calculated temperature exceeds this threshold, it triggers thermal management actions to prevent motor overheating.
¶ 5. Hysteresis
Hysteresis introduces a buffer zone around the Limit Threshold to avoid frequent toggling of thermal management. It ensures that the system doesn't switch between normal and thermal management states rapidly, providing stability during motor protection.
¶ Read-Only Parameters
¶ 1. Thermal Model Limit
The Thermal Model Limit is a read-only feedback parameter that indicates when the thermal model has stopped the motor. It provides insight into whether the motor is in stopped state due to thermal limit.
¶ 2. Temperature
The Temperature parameter is a read-only value representing the current estimated temperature of critical motor components. It is calculated in real-time using the thermal model equation.
Example Thermal Model Configuration
Thermal Model parameters can be accessed from the Devices Page.
