EGM dynamic model / torque feed forward

jhip

Dear EGM team

mov'X is a small french compagny specialized in EGM application.
First of all, I want to thanks for the recent improvement in RW6.12 ; Torque Margin datas in EGM message.

We perform a lot of high speed movements (3m/s and faster) and large deviances (several centimeters) can be observed.

To preview overload move, we build our own dynamic model.

In order to reduce deviance, could we expect in RW6.13 to send torque feed forward by EGM message ?

About 4-5-6 coupling, Do we send motor torque or axis torque ?

Thanks in advance.

Jacques